/* Generated by Cython 3.0.11 */

/* BEGIN: Cython Metadata
{
    "distutils": {
        "name": "Robot",
        "sources": [
            "Robot.py"
        ]
    },
    "module_name": "Robot"
}
END: Cython Metadata */

#ifndef PY_SSIZE_T_CLEAN
#define PY_SSIZE_T_CLEAN
#endif /* PY_SSIZE_T_CLEAN */
#if defined(CYTHON_LIMITED_API) && 0
  #ifndef Py_LIMITED_API
    #if CYTHON_LIMITED_API+0 > 0x03030000
      #define Py_LIMITED_API CYTHON_LIMITED_API
    #else
      #define Py_LIMITED_API 0x03030000
    #endif
  #endif
#endif

#include "Python.h"
#ifndef Py_PYTHON_H
    #error Python headers needed to compile C extensions, please install development version of Python.
#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.7+ or Python 3.3+.
#else
#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API
#define __PYX_EXTRA_ABI_MODULE_NAME "limited"
#else
#define __PYX_EXTRA_ABI_MODULE_NAME ""
#endif
#define CYTHON_ABI "3_0_11" __PYX_EXTRA_ABI_MODULE_NAME
#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI
#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "."
#define CYTHON_HEX_VERSION 0x03000BF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
  #define offsetof(type, member) ( (size_t) & ((type*)0) -> member )
#endif
#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS)
  #ifndef __stdcall
    #define __stdcall
  #endif
  #ifndef __cdecl
    #define __cdecl
  #endif
  #ifndef __fastcall
    #define __fastcall
  #endif
#endif
#ifndef DL_IMPORT
  #define DL_IMPORT(t) t
#endif
#ifndef DL_EXPORT
  #define DL_EXPORT(t) t
#endif
#define __PYX_COMMA ,
#ifndef HAVE_LONG_LONG
  #define HAVE_LONG_LONG
#endif
#ifndef PY_LONG_LONG
  #define PY_LONG_LONG LONG_LONG
#endif
#ifndef Py_HUGE_VAL
  #define Py_HUGE_VAL HUGE_VAL
#endif
#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX
#if defined(GRAALVM_PYTHON)
  /* For very preliminary testing purposes. Most variables are set the same as PyPy.
     The existence of this section does not imply that anything works or is even tested */
  #define CYTHON_COMPILING_IN_PYPY 0
  #define CYTHON_COMPILING_IN_CPYTHON 0
  #define CYTHON_COMPILING_IN_LIMITED_API 0
  #define CYTHON_COMPILING_IN_GRAAL 1
  #define CYTHON_COMPILING_IN_NOGIL 0
  #undef CYTHON_USE_TYPE_SLOTS
  #define CYTHON_USE_TYPE_SLOTS 0
  #undef CYTHON_USE_TYPE_SPECS
  #define CYTHON_USE_TYPE_SPECS 0
  #undef CYTHON_USE_PYTYPE_LOOKUP
  #define CYTHON_USE_PYTYPE_LOOKUP 0
  #if PY_VERSION_HEX < 0x03050000
    #undef CYTHON_USE_ASYNC_SLOTS
    #define CYTHON_USE_ASYNC_SLOTS 0
  #elif !defined(CYTHON_USE_ASYNC_SLOTS)
    #define CYTHON_USE_ASYNC_SLOTS 1
  #endif
  #undef CYTHON_USE_PYLIST_INTERNALS
  #define CYTHON_USE_PYLIST_INTERNALS 0
  #undef CYTHON_USE_UNICODE_INTERNALS
  #define CYTHON_USE_UNICODE_INTERNALS 0
  #undef CYTHON_USE_UNICODE_WRITER
  #define CYTHON_USE_UNICODE_WRITER 0
  #undef CYTHON_USE_PYLONG_INTERNALS
  #define CYTHON_USE_PYLONG_INTERNALS 0
  #undef CYTHON_AVOID_BORROWED_REFS
  #define CYTHON_AVOID_BORROWED_REFS 1
  #undef CYTHON_ASSUME_SAFE_MACROS
  #define CYTHON_ASSUME_SAFE_MACROS 0
  #undef CYTHON_UNPACK_METHODS
  #define CYTHON_UNPACK_METHODS 0
  #undef CYTHON_FAST_THREAD_STATE
  #define CYTHON_FAST_THREAD_STATE 0
  #undef CYTHON_FAST_GIL
  #define CYTHON_FAST_GIL 0
  #undef CYTHON_METH_FASTCALL
  #define CYTHON_METH_FASTCALL 0
  #undef CYTHON_FAST_PYCALL
  #define CYTHON_FAST_PYCALL 0
  #ifndef CYTHON_PEP487_INIT_SUBCLASS
    #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3)
  #endif
  #undef CYTHON_PEP489_MULTI_PHASE_INIT
  #define CYTHON_PEP489_MULTI_PHASE_INIT 1
  #undef CYTHON_USE_MODULE_STATE
  #define CYTHON_USE_MODULE_STATE 0
  #undef CYTHON_USE_TP_FINALIZE
  #define CYTHON_USE_TP_FINALIZE 0
  #undef CYTHON_USE_DICT_VERSIONS
  #define CYTHON_USE_DICT_VERSIONS 0
  #undef CYTHON_USE_EXC_INFO_STACK
  #define CYTHON_USE_EXC_INFO_STACK 0
  #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC
    #define CYTHON_UPDATE_DESCRIPTOR_DOC 0
  #endif
  #undef CYTHON_USE_FREELISTS
  #define CYTHON_USE_FREELISTS 0
#elif defined(PYPY_VERSION)
  #define CYTHON_COMPILING_IN_PYPY 1
  #define CYTHON_COMPILING_IN_CPYTHON 0
  #define CYTHON_COMPILING_IN_LIMITED_API 0
  #define CYTHON_COMPILING_IN_GRAAL 0
  #define CYTHON_COMPILING_IN_NOGIL 0
  #undef CYTHON_USE_TYPE_SLOTS
  #define CYTHON_USE_TYPE_SLOTS 0
  #ifndef CYTHON_USE_TYPE_SPECS
    #define CYTHON_USE_TYPE_SPECS 0
  #endif
  #undef CYTHON_USE_PYTYPE_LOOKUP
  #define CYTHON_USE_PYTYPE_LOOKUP 0
  #if PY_VERSION_HEX < 0x03050000
    #undef CYTHON_USE_ASYNC_SLOTS
    #define CYTHON_USE_ASYNC_SLOTS 0
  #elif !defined(CYTHON_USE_ASYNC_SLOTS)
    #define CYTHON_USE_ASYNC_SLOTS 1
  #endif
  #undef CYTHON_USE_PYLIST_INTERNALS
  #define CYTHON_USE_PYLIST_INTERNALS 0
  #undef CYTHON_USE_UNICODE_INTERNALS
  #define CYTHON_USE_UNICODE_INTERNALS 0
  #undef CYTHON_USE_UNICODE_WRITER
  #define CYTHON_USE_UNICODE_WRITER 0
  #undef CYTHON_USE_PYLONG_INTERNALS
  #define CYTHON_USE_PYLONG_INTERNALS 0
  #undef CYTHON_AVOID_BORROWED_REFS
  #define CYTHON_AVOID_BORROWED_REFS 1
  #undef CYTHON_ASSUME_SAFE_MACROS
  #define CYTHON_ASSUME_SAFE_MACROS 0
  #undef CYTHON_UNPACK_METHODS
  #define CYTHON_UNPACK_METHODS 0
  #undef CYTHON_FAST_THREAD_STATE
  #define CYTHON_FAST_THREAD_STATE 0
  #undef CYTHON_FAST_GIL
  #define CYTHON_FAST_GIL 0
  #undef CYTHON_METH_FASTCALL
  #define CYTHON_METH_FASTCALL 0
  #undef CYTHON_FAST_PYCALL
  #define CYTHON_FAST_PYCALL 0
  #ifndef CYTHON_PEP487_INIT_SUBCLASS
    #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3)
  #endif
  #if PY_VERSION_HEX < 0x03090000
    #undef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT 0
  #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT)
    #define CYTHON_PEP489_MULTI_PHASE_INIT 1
  #endif
  #undef CYTHON_USE_MODULE_STATE
  #define CYTHON_USE_MODULE_STATE 0
  #undef CYTHON_USE_TP_FINALIZE
  #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00)
  #undef CYTHON_USE_DICT_VERSIONS
  #define CYTHON_USE_DICT_VERSIONS 0
  #undef CYTHON_USE_EXC_INFO_STACK
  #define CYTHON_USE_EXC_INFO_STACK 0
  #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC
    #define CYTHON_UPDATE_DESCRIPTOR_DOC 0
  #endif
  #undef CYTHON_USE_FREELISTS
  #define CYTHON_USE_FREELISTS 0
#elif defined(CYTHON_LIMITED_API)
  #ifdef Py_LIMITED_API
    #undef __PYX_LIMITED_VERSION_HEX
    #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API
  #endif
  #define CYTHON_COMPILING_IN_PYPY 0
  #define CYTHON_COMPILING_IN_CPYTHON 0
  #define CYTHON_COMPILING_IN_LIMITED_API 1
  #define CYTHON_COMPILING_IN_GRAAL 0
  #define CYTHON_COMPILING_IN_NOGIL 0
  #undef CYTHON_CLINE_IN_TRACEBACK
  #define CYTHON_CLINE_IN_TRACEBACK 0
  #undef CYTHON_USE_TYPE_SLOTS
  #define CYTHON_USE_TYPE_SLOTS 0
  #undef CYTHON_USE_TYPE_SPECS
  #define CYTHON_USE_TYPE_SPECS 1
  #undef CYTHON_USE_PYTYPE_LOOKUP
  #define CYTHON_USE_PYTYPE_LOOKUP 0
  #undef CYTHON_USE_ASYNC_SLOTS
  #define CYTHON_USE_ASYNC_SLOTS 0
  #undef CYTHON_USE_PYLIST_INTERNALS
  #define CYTHON_USE_PYLIST_INTERNALS 0
  #undef CYTHON_USE_UNICODE_INTERNALS
  #define CYTHON_USE_UNICODE_INTERNALS 0
  #ifndef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #endif
  #undef CYTHON_USE_PYLONG_INTERNALS
  #define CYTHON_USE_PYLONG_INTERNALS 0
  #ifndef CYTHON_AVOID_BORROWED_REFS
    #define CYTHON_AVOID_BORROWED_REFS 0
  #endif
  #undef CYTHON_ASSUME_SAFE_MACROS
  #define CYTHON_ASSUME_SAFE_MACROS 0
  #undef CYTHON_UNPACK_METHODS
  #define CYTHON_UNPACK_METHODS 0
  #undef CYTHON_FAST_THREAD_STATE
  #define CYTHON_FAST_THREAD_STATE 0
  #undef CYTHON_FAST_GIL
  #define CYTHON_FAST_GIL 0
  #undef CYTHON_METH_FASTCALL
  #define CYTHON_METH_FASTCALL 0
  #undef CYTHON_FAST_PYCALL
  #define CYTHON_FAST_PYCALL 0
  #ifndef CYTHON_PEP487_INIT_SUBCLASS
    #define CYTHON_PEP487_INIT_SUBCLASS 1
  #endif
  #undef CYTHON_PEP489_MULTI_PHASE_INIT
  #define CYTHON_PEP489_MULTI_PHASE_INIT 0
  #undef CYTHON_USE_MODULE_STATE
  #define CYTHON_USE_MODULE_STATE 1
  #ifndef CYTHON_USE_TP_FINALIZE
    #define CYTHON_USE_TP_FINALIZE 0
  #endif
  #undef CYTHON_USE_DICT_VERSIONS
  #define CYTHON_USE_DICT_VERSIONS 0
  #undef CYTHON_USE_EXC_INFO_STACK
  #define CYTHON_USE_EXC_INFO_STACK 0
  #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC
    #define CYTHON_UPDATE_DESCRIPTOR_DOC 0
  #endif
  #undef CYTHON_USE_FREELISTS
  #define CYTHON_USE_FREELISTS 0
#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL)
  #define CYTHON_COMPILING_IN_PYPY 0
  #define CYTHON_COMPILING_IN_CPYTHON 0
  #define CYTHON_COMPILING_IN_LIMITED_API 0
  #define CYTHON_COMPILING_IN_GRAAL 0
  #define CYTHON_COMPILING_IN_NOGIL 1
  #ifndef CYTHON_USE_TYPE_SLOTS
    #define CYTHON_USE_TYPE_SLOTS 1
  #endif
  #ifndef CYTHON_USE_TYPE_SPECS
    #define CYTHON_USE_TYPE_SPECS 0
  #endif
  #undef CYTHON_USE_PYTYPE_LOOKUP
  #define CYTHON_USE_PYTYPE_LOOKUP 0
  #ifndef CYTHON_USE_ASYNC_SLOTS
    #define CYTHON_USE_ASYNC_SLOTS 1
  #endif
  #ifndef CYTHON_USE_PYLONG_INTERNALS
    #define CYTHON_USE_PYLONG_INTERNALS 0
  #endif
  #undef CYTHON_USE_PYLIST_INTERNALS
  #define CYTHON_USE_PYLIST_INTERNALS 0
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
  #undef CYTHON_USE_UNICODE_WRITER
  #define CYTHON_USE_UNICODE_WRITER 0
  #ifndef CYTHON_AVOID_BORROWED_REFS
    #define CYTHON_AVOID_BORROWED_REFS 0
  #endif
  #ifndef CYTHON_ASSUME_SAFE_MACROS
    #define CYTHON_ASSUME_SAFE_MACROS 1
  #endif
  #ifndef CYTHON_UNPACK_METHODS
    #define CYTHON_UNPACK_METHODS 1
  #endif
  #undef CYTHON_FAST_THREAD_STATE
  #define CYTHON_FAST_THREAD_STATE 0
  #undef CYTHON_FAST_GIL
  #define CYTHON_FAST_GIL 0
  #ifndef CYTHON_METH_FASTCALL
    #define CYTHON_METH_FASTCALL 1
  #endif
  #undef CYTHON_FAST_PYCALL
  #define CYTHON_FAST_PYCALL 0
  #ifndef CYTHON_PEP487_INIT_SUBCLASS
    #define CYTHON_PEP487_INIT_SUBCLASS 1
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT 1
  #endif
  #ifndef CYTHON_USE_MODULE_STATE
    #define CYTHON_USE_MODULE_STATE 0
  #endif
  #ifndef CYTHON_USE_TP_FINALIZE
    #define CYTHON_USE_TP_FINALIZE 1
  #endif
  #undef CYTHON_USE_DICT_VERSIONS
  #define CYTHON_USE_DICT_VERSIONS 0
  #undef CYTHON_USE_EXC_INFO_STACK
  #define CYTHON_USE_EXC_INFO_STACK 0
  #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC
    #define CYTHON_UPDATE_DESCRIPTOR_DOC 1
  #endif
  #ifndef CYTHON_USE_FREELISTS
    #define CYTHON_USE_FREELISTS 0
  #endif
#else
  #define CYTHON_COMPILING_IN_PYPY 0
  #define CYTHON_COMPILING_IN_CPYTHON 1
  #define CYTHON_COMPILING_IN_LIMITED_API 0
  #define CYTHON_COMPILING_IN_GRAAL 0
  #define CYTHON_COMPILING_IN_NOGIL 0
  #ifndef CYTHON_USE_TYPE_SLOTS
    #define CYTHON_USE_TYPE_SLOTS 1
  #endif
  #ifndef CYTHON_USE_TYPE_SPECS
    #define CYTHON_USE_TYPE_SPECS 0
  #endif
  #ifndef CYTHON_USE_PYTYPE_LOOKUP
    #define CYTHON_USE_PYTYPE_LOOKUP 1
  #endif
  #if PY_MAJOR_VERSION < 3
    #undef CYTHON_USE_ASYNC_SLOTS
    #define CYTHON_USE_ASYNC_SLOTS 0
  #elif !defined(CYTHON_USE_ASYNC_SLOTS)
    #define CYTHON_USE_ASYNC_SLOTS 1
  #endif
  #ifndef CYTHON_USE_PYLONG_INTERNALS
    #define CYTHON_USE_PYLONG_INTERNALS 1
  #endif
  #ifndef CYTHON_USE_PYLIST_INTERNALS
    #define CYTHON_USE_PYLIST_INTERNALS 1
  #endif
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
    #define CYTHON_USE_UNICODE_WRITER 1
  #endif
  #ifndef CYTHON_AVOID_BORROWED_REFS
    #define CYTHON_AVOID_BORROWED_REFS 0
  #endif
  #ifndef CYTHON_ASSUME_SAFE_MACROS
    #define CYTHON_ASSUME_SAFE_MACROS 1
  #endif
  #ifndef CYTHON_UNPACK_METHODS
    #define CYTHON_UNPACK_METHODS 1
  #endif
  #ifndef CYTHON_FAST_THREAD_STATE
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_GIL
    #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6)
  #endif
  #ifndef CYTHON_METH_FASTCALL
    #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1)
  #endif
  #ifndef CYTHON_FAST_PYCALL
    #define CYTHON_FAST_PYCALL 1
  #endif
  #ifndef CYTHON_PEP487_INIT_SUBCLASS
    #define CYTHON_PEP487_INIT_SUBCLASS 1
  #endif
  #if PY_VERSION_HEX < 0x03050000
    #undef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT 0
  #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT)
    #define CYTHON_PEP489_MULTI_PHASE_INIT 1
  #endif
  #ifndef CYTHON_USE_MODULE_STATE
    #define CYTHON_USE_MODULE_STATE 0
  #endif
  #if PY_VERSION_HEX < 0x030400a1
    #undef CYTHON_USE_TP_FINALIZE
    #define CYTHON_USE_TP_FINALIZE 0
  #elif !defined(CYTHON_USE_TP_FINALIZE)
    #define CYTHON_USE_TP_FINALIZE 1
  #endif
  #if PY_VERSION_HEX < 0x030600B1
    #undef CYTHON_USE_DICT_VERSIONS
    #define CYTHON_USE_DICT_VERSIONS 0
  #elif !defined(CYTHON_USE_DICT_VERSIONS)
    #define CYTHON_USE_DICT_VERSIONS  (PY_VERSION_HEX < 0x030C00A5)
  #endif
  #if PY_VERSION_HEX < 0x030700A3
    #undef CYTHON_USE_EXC_INFO_STACK
    #define CYTHON_USE_EXC_INFO_STACK 0
  #elif !defined(CYTHON_USE_EXC_INFO_STACK)
    #define CYTHON_USE_EXC_INFO_STACK 1
  #endif
  #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC
    #define CYTHON_UPDATE_DESCRIPTOR_DOC 1
  #endif
  #ifndef CYTHON_USE_FREELISTS
    #define CYTHON_USE_FREELISTS 1
  #endif
#endif
#if !defined(CYTHON_FAST_PYCCALL)
#define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if !defined(CYTHON_VECTORCALL)
#define CYTHON_VECTORCALL  (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1)
#endif
#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1)
#if CYTHON_USE_PYLONG_INTERNALS
  #if PY_MAJOR_VERSION < 3
    #include "longintrepr.h"
  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
  #ifdef SIZEOF_VOID_P
    enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) };
  #endif
#endif
#ifndef __has_attribute
  #define __has_attribute(x) 0
#endif
#ifndef __has_cpp_attribute
  #define __has_cpp_attribute(x) 0
#endif
#ifndef CYTHON_RESTRICT
  #if defined(__GNUC__)
    #define CYTHON_RESTRICT __restrict__
  #elif defined(_MSC_VER) && _MSC_VER >= 1400
    #define CYTHON_RESTRICT __restrict
  #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
    #define CYTHON_RESTRICT restrict
  #else
    #define CYTHON_RESTRICT
  #endif
#endif
#ifndef CYTHON_UNUSED
  #if defined(__cplusplus)
    /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17
     * but leads to warnings with -pedantic, since it is a C++17 feature */
    #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L)
      #if __has_cpp_attribute(maybe_unused)
        #define CYTHON_UNUSED [[maybe_unused]]
      #endif
    #endif
  #endif
#endif
#ifndef CYTHON_UNUSED
# if defined(__GNUC__)
#   if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
#     define CYTHON_UNUSED __attribute__ ((__unused__))
#   else
#     define CYTHON_UNUSED
#   endif
# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER))
#   define CYTHON_UNUSED __attribute__ ((__unused__))
# else
#   define CYTHON_UNUSED
# endif
#endif
#ifndef CYTHON_UNUSED_VAR
#  if defined(__cplusplus)
     template<class T> void CYTHON_UNUSED_VAR( const T& ) { }
#  else
#    define CYTHON_UNUSED_VAR(x) (void)(x)
#  endif
#endif
#ifndef CYTHON_MAYBE_UNUSED_VAR
  #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x)
#endif
#ifndef CYTHON_NCP_UNUSED
# if CYTHON_COMPILING_IN_CPYTHON
#  define CYTHON_NCP_UNUSED
# else
#  define CYTHON_NCP_UNUSED CYTHON_UNUSED
# endif
#endif
#ifndef CYTHON_USE_CPP_STD_MOVE
  #if defined(__cplusplus) && (\
    __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600))
    #define CYTHON_USE_CPP_STD_MOVE 1
  #else
    #define CYTHON_USE_CPP_STD_MOVE 0
  #endif
#endif
#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None)
#ifdef _MSC_VER
    #ifndef _MSC_STDINT_H_
        #if _MSC_VER < 1300
            typedef unsigned char     uint8_t;
            typedef unsigned short    uint16_t;
            typedef unsigned int      uint32_t;
        #else
            typedef unsigned __int8   uint8_t;
            typedef unsigned __int16  uint16_t;
            typedef unsigned __int32  uint32_t;
        #endif
    #endif
    #if _MSC_VER < 1300
        #ifdef _WIN64
            typedef unsigned long long  __pyx_uintptr_t;
        #else
            typedef unsigned int        __pyx_uintptr_t;
        #endif
    #else
        #ifdef _WIN64
            typedef unsigned __int64    __pyx_uintptr_t;
        #else
            typedef unsigned __int32    __pyx_uintptr_t;
        #endif
    #endif
#else
    #include <stdint.h>
    typedef uintptr_t  __pyx_uintptr_t;
#endif
#ifndef CYTHON_FALLTHROUGH
  #if defined(__cplusplus)
    /* for clang __has_cpp_attribute(fallthrough) is true even before C++17
     * but leads to warnings with -pedantic, since it is a C++17 feature */
    #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L)
      #if __has_cpp_attribute(fallthrough)
        #define CYTHON_FALLTHROUGH [[fallthrough]]
      #endif
    #endif
    #ifndef CYTHON_FALLTHROUGH
      #if __has_cpp_attribute(clang::fallthrough)
        #define CYTHON_FALLTHROUGH [[clang::fallthrough]]
      #elif __has_cpp_attribute(gnu::fallthrough)
        #define CYTHON_FALLTHROUGH [[gnu::fallthrough]]
      #endif
    #endif
  #endif
  #ifndef CYTHON_FALLTHROUGH
    #if __has_attribute(fallthrough)
      #define CYTHON_FALLTHROUGH __attribute__((fallthrough))
    #else
      #define CYTHON_FALLTHROUGH
    #endif
  #endif
  #if defined(__clang__) && defined(__apple_build_version__)
    #if __apple_build_version__ < 7000000
      #undef  CYTHON_FALLTHROUGH
      #define CYTHON_FALLTHROUGH
    #endif
  #endif
#endif
#ifdef __cplusplus
  template <typename T>
  struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);};
  #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL<type>::value)
#else
  #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0)
#endif
#if CYTHON_COMPILING_IN_PYPY == 1
  #define __PYX_NEED_TP_PRINT_SLOT  (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000)
#else
  #define __PYX_NEED_TP_PRINT_SLOT  (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000)
#endif
#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer))

#ifndef CYTHON_INLINE
  #if defined(__clang__)
    #define CYTHON_INLINE __inline__ __attribute__ ((__unused__))
  #elif defined(__GNUC__)
    #define CYTHON_INLINE __inline__
  #elif defined(_MSC_VER)
    #define CYTHON_INLINE __inline
  #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
    #define CYTHON_INLINE inline
  #else
    #define CYTHON_INLINE
  #endif
#endif

#define __PYX_BUILD_PY_SSIZE_T "n"
#define CYTHON_FORMAT_SSIZE_T "z"
#if PY_MAJOR_VERSION < 3
  #define __Pyx_BUILTIN_MODULE_NAME "__builtin__"
  #define __Pyx_DefaultClassType PyClass_Type
  #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
  #define __Pyx_DefaultClassType PyType_Type
#if CYTHON_COMPILING_IN_LIMITED_API
    static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f,
                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
                                                    PyObject *fv, PyObject *cell, PyObject* fn,
                                                    PyObject *name, int fline, PyObject *lnos) {
        PyObject *exception_table = NULL;
        PyObject *types_module=NULL, *code_type=NULL, *result=NULL;
        #if __PYX_LIMITED_VERSION_HEX < 0x030B0000
        PyObject *version_info;
        PyObject *py_minor_version = NULL;
        #endif
        long minor_version = 0;
        PyObject *type, *value, *traceback;
        PyErr_Fetch(&type, &value, &traceback);
        #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000
        minor_version = 11;
        #else
        if (!(version_info = PySys_GetObject("version_info"))) goto end;
        if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end;
        minor_version = PyLong_AsLong(py_minor_version);
        Py_DECREF(py_minor_version);
        if (minor_version == -1 && PyErr_Occurred()) goto end;
        #endif
        if (!(types_module = PyImport_ImportModule("types"))) goto end;
        if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end;
        if (minor_version <= 7) {
            (void)p;
            result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code,
                          c, n, v, fn, name, fline, lnos, fv, cell);
        } else if (minor_version <= 10) {
            result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code,
                          c, n, v, fn, name, fline, lnos, fv, cell);
        } else {
            if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end;
            result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code,
                          c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell);
        }
    end:
        Py_XDECREF(code_type);
        Py_XDECREF(exception_table);
        Py_XDECREF(types_module);
        if (type) {
            PyErr_Restore(type, value, traceback);
        }
        return result;
    }
    #ifndef CO_OPTIMIZED
    #define CO_OPTIMIZED 0x0001
    #endif
    #ifndef CO_NEWLOCALS
    #define CO_NEWLOCALS 0x0002
    #endif
    #ifndef CO_VARARGS
    #define CO_VARARGS 0x0004
    #endif
    #ifndef CO_VARKEYWORDS
    #define CO_VARKEYWORDS 0x0008
    #endif
    #ifndef CO_ASYNC_GENERATOR
    #define CO_ASYNC_GENERATOR 0x0200
    #endif
    #ifndef CO_GENERATOR
    #define CO_GENERATOR 0x0020
    #endif
    #ifndef CO_COROUTINE
    #define CO_COROUTINE 0x0080
    #endif
#elif PY_VERSION_HEX >= 0x030B0000
  static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f,
                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
                                                    PyObject *fv, PyObject *cell, PyObject* fn,
                                                    PyObject *name, int fline, PyObject *lnos) {
    PyCodeObject *result;
    PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0);
    if (!empty_bytes) return NULL;
    result =
      #if PY_VERSION_HEX >= 0x030C0000
        PyUnstable_Code_NewWithPosOnlyArgs
      #else
        PyCode_NewWithPosOnlyArgs
      #endif
        (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes);
    Py_DECREF(empty_bytes);
    return result;
  }
#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY
  #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#else
  #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#endif
#endif
#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE)
  #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type)
#else
  #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type))
#endif
#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is)
  #define __Pyx_Py_Is(x, y)  Py_Is(x, y)
#else
  #define __Pyx_Py_Is(x, y) ((x) == (y))
#endif
#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone)
  #define __Pyx_Py_IsNone(ob) Py_IsNone(ob)
#else
  #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None)
#endif
#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue)
  #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob)
#else
  #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True)
#endif
#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse)
  #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob)
#else
  #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False)
#endif
#define __Pyx_NoneAsNull(obj)  (__Pyx_Py_IsNone(obj) ? NULL : (obj))
#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY
  #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o)
#else
  #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o)
#endif
#ifndef CO_COROUTINE
  #define CO_COROUTINE 0x80
#endif
#ifndef CO_ASYNC_GENERATOR
  #define CO_ASYNC_GENERATOR 0x200
#endif
#ifndef Py_TPFLAGS_CHECKTYPES
  #define Py_TPFLAGS_CHECKTYPES 0
#endif
#ifndef Py_TPFLAGS_HAVE_INDEX
  #define Py_TPFLAGS_HAVE_INDEX 0
#endif
#ifndef Py_TPFLAGS_HAVE_NEWBUFFER
  #define Py_TPFLAGS_HAVE_NEWBUFFER 0
#endif
#ifndef Py_TPFLAGS_HAVE_FINALIZE
  #define Py_TPFLAGS_HAVE_FINALIZE 0
#endif
#ifndef Py_TPFLAGS_SEQUENCE
  #define Py_TPFLAGS_SEQUENCE 0
#endif
#ifndef Py_TPFLAGS_MAPPING
  #define Py_TPFLAGS_MAPPING 0
#endif
#ifndef METH_STACKLESS
  #define METH_STACKLESS 0
#endif
#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL)
  #ifndef METH_FASTCALL
     #define METH_FASTCALL 0x80
  #endif
  typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs);
  typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args,
                                                          Py_ssize_t nargs, PyObject *kwnames);
#else
  #if PY_VERSION_HEX >= 0x030d00A4
  #  define __Pyx_PyCFunctionFast PyCFunctionFast
  #  define __Pyx_PyCFunctionFastWithKeywords PyCFunctionFastWithKeywords
  #else
  #  define __Pyx_PyCFunctionFast _PyCFunctionFast
  #  define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords
  #endif
#endif
#if CYTHON_METH_FASTCALL
  #define __Pyx_METH_FASTCALL METH_FASTCALL
  #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast
  #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords
#else
  #define __Pyx_METH_FASTCALL METH_VARARGS
  #define __Pyx_PyCFunction_FastCall PyCFunction
  #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords
#endif
#if CYTHON_VECTORCALL
  #define __pyx_vectorcallfunc vectorcallfunc
  #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET  PY_VECTORCALL_ARGUMENTS_OFFSET
  #define __Pyx_PyVectorcall_NARGS(n)  PyVectorcall_NARGS((size_t)(n))
#elif CYTHON_BACKPORT_VECTORCALL
  typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args,
                                            size_t nargsf, PyObject *kwnames);
  #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET  ((size_t)1 << (8 * sizeof(size_t) - 1))
  #define __Pyx_PyVectorcall_NARGS(n)  ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET))
#else
  #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET  0
  #define __Pyx_PyVectorcall_NARGS(n)  ((Py_ssize_t)(n))
#endif
#if PY_MAJOR_VERSION >= 0x030900B1
#define __Pyx_PyCFunction_CheckExact(func)  PyCFunction_CheckExact(func)
#else
#define __Pyx_PyCFunction_CheckExact(func)  PyCFunction_Check(func)
#endif
#define __Pyx_CyOrPyCFunction_Check(func)  PyCFunction_Check(func)
#if CYTHON_COMPILING_IN_CPYTHON
#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func)  (((PyCFunctionObject*)(func))->m_ml->ml_meth)
#elif !CYTHON_COMPILING_IN_LIMITED_API
#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func)  PyCFunction_GET_FUNCTION(func)
#endif
#if CYTHON_COMPILING_IN_CPYTHON
#define __Pyx_CyOrPyCFunction_GET_FLAGS(func)  (((PyCFunctionObject*)(func))->m_ml->ml_flags)
static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) {
    return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self;
}
#endif
static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) {
#if CYTHON_COMPILING_IN_LIMITED_API
    return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc;
#else
    return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc;
#endif
}
#define __Pyx_IsSameCFunction(func, cfunc)   __Pyx__IsSameCFunction(func, cfunc)
#if __PYX_LIMITED_VERSION_HEX < 0x030900B1
  #define __Pyx_PyType_FromModuleAndSpec(m, s, b)  ((void)m, PyType_FromSpecWithBases(s, b))
  typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *);
#else
  #define __Pyx_PyType_FromModuleAndSpec(m, s, b)  PyType_FromModuleAndSpec(m, s, b)
  #define __Pyx_PyCMethod  PyCMethod
#endif
#ifndef METH_METHOD
  #define METH_METHOD 0x200
#endif
#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc)
  #define PyObject_Malloc(s)   PyMem_Malloc(s)
  #define PyObject_Free(p)     PyMem_Free(p)
  #define PyObject_Realloc(p)  PyMem_Realloc(p)
#endif
#if CYTHON_COMPILING_IN_LIMITED_API
  #define __Pyx_PyCode_HasFreeVars(co)  (PyCode_GetNumFree(co) > 0)
  #define __Pyx_PyFrame_SetLineNumber(frame, lineno)
#else
  #define __Pyx_PyCode_HasFreeVars(co)  (PyCode_GetNumFree(co) > 0)
  #define __Pyx_PyFrame_SetLineNumber(frame, lineno)  (frame)->f_lineno = (lineno)
#endif
#if CYTHON_COMPILING_IN_LIMITED_API
  #define __Pyx_PyThreadState_Current PyThreadState_Get()
#elif !CYTHON_FAST_THREAD_STATE
  #define __Pyx_PyThreadState_Current PyThreadState_GET()
#elif PY_VERSION_HEX >= 0x030d00A1
  #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked()
#elif PY_VERSION_HEX >= 0x03060000
  #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet()
#elif PY_VERSION_HEX >= 0x03000000
  #define __Pyx_PyThreadState_Current PyThreadState_GET()
#else
  #define __Pyx_PyThreadState_Current _PyThreadState_Current
#endif
#if CYTHON_COMPILING_IN_LIMITED_API
static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op)
{
    void *result;
    result = PyModule_GetState(op);
    if (!result)
        Py_FatalError("Couldn't find the module state");
    return result;
}
#endif
#define __Pyx_PyObject_GetSlot(obj, name, func_ctype)  __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype)
#if CYTHON_COMPILING_IN_LIMITED_API
  #define __Pyx_PyType_GetSlot(type, name, func_ctype)  ((func_ctype) PyType_GetSlot((type), Py_##name))
#else
  #define __Pyx_PyType_GetSlot(type, name, func_ctype)  ((type)->name)
#endif
#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT)
#include "pythread.h"
#define Py_tss_NEEDS_INIT 0
typedef int Py_tss_t;
static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) {
  *key = PyThread_create_key();
  return 0;
}
static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) {
  Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t));
  *key = Py_tss_NEEDS_INIT;
  return key;
}
static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) {
  PyObject_Free(key);
}
static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) {
  return *key != Py_tss_NEEDS_INIT;
}
static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) {
  PyThread_delete_key(*key);
  *key = Py_tss_NEEDS_INIT;
}
static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) {
  return PyThread_set_key_value(*key, value);
}
static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
  return PyThread_get_key_value(*key);
}
#endif
#if PY_MAJOR_VERSION < 3
    #if CYTHON_COMPILING_IN_PYPY
        #if PYPY_VERSION_NUM < 0x07030600
            #if defined(__cplusplus) && __cplusplus >= 201402L
                [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]]
            #elif defined(__GNUC__) || defined(__clang__)
                __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")))
            #elif defined(_MSC_VER)
                __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))
            #endif
            static CYTHON_INLINE int PyGILState_Check(void) {
                return 0;
            }
        #else  // PYPY_VERSION_NUM < 0x07030600
        #endif  // PYPY_VERSION_NUM < 0x07030600
    #else
        static CYTHON_INLINE int PyGILState_Check(void) {
            PyThreadState * tstate = _PyThreadState_Current;
            return tstate && (tstate == PyGILState_GetThisThreadState());
        }
    #endif
#endif
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized)
#define __Pyx_PyDict_NewPresized(n)  ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n))
#else
#define __Pyx_PyDict_NewPresized(n)  PyDict_New()
#endif
#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION
  #define __Pyx_PyNumber_Divide(x,y)         PyNumber_TrueDivide(x,y)
  #define __Pyx_PyNumber_InPlaceDivide(x,y)  PyNumber_InPlaceTrueDivide(x,y)
#else
  #define __Pyx_PyNumber_Divide(x,y)         PyNumber_Divide(x,y)
  #define __Pyx_PyNumber_InPlaceDivide(x,y)  PyNumber_InPlaceDivide(x,y)
#endif
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS
#define __Pyx_PyDict_GetItemStrWithError(dict, name)  _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash)
static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) {
    PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name);
    if (res == NULL) PyErr_Clear();
    return res;
}
#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000)
#define __Pyx_PyDict_GetItemStrWithError  PyDict_GetItemWithError
#define __Pyx_PyDict_GetItemStr           PyDict_GetItem
#else
static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) {
#if CYTHON_COMPILING_IN_PYPY
    return PyDict_GetItem(dict, name);
#else
    PyDictEntry *ep;
    PyDictObject *mp = (PyDictObject*) dict;
    long hash = ((PyStringObject *) name)->ob_shash;
    assert(hash != -1);
    ep = (mp->ma_lookup)(mp, name, hash);
    if (ep == NULL) {
        return NULL;
    }
    return ep->me_value;
#endif
}
#define __Pyx_PyDict_GetItemStr           PyDict_GetItem
#endif
#if CYTHON_USE_TYPE_SLOTS
  #define __Pyx_PyType_GetFlags(tp)   (((PyTypeObject *)tp)->tp_flags)
  #define __Pyx_PyType_HasFeature(type, feature)  ((__Pyx_PyType_GetFlags(type) & (feature)) != 0)
  #define __Pyx_PyObject_GetIterNextFunc(obj)  (Py_TYPE(obj)->tp_iternext)
#else
  #define __Pyx_PyType_GetFlags(tp)   (PyType_GetFlags((PyTypeObject *)tp))
  #define __Pyx_PyType_HasFeature(type, feature)  PyType_HasFeature(type, feature)
  #define __Pyx_PyObject_GetIterNextFunc(obj)  PyIter_Next
#endif
#if CYTHON_COMPILING_IN_LIMITED_API
  #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v)
#else
  #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v)
#endif
#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000
#define __Pyx_PyHeapTypeObject_GC_Del(obj)  {\
    PyTypeObject *type = Py_TYPE((PyObject*)obj);\
    assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\
    PyObject_GC_Del(obj);\
    Py_DECREF(type);\
}
#else
#define __Pyx_PyHeapTypeObject_GC_Del(obj)  PyObject_GC_Del(obj)
#endif
#if CYTHON_COMPILING_IN_LIMITED_API
  #define CYTHON_PEP393_ENABLED 1
  #define __Pyx_PyUnicode_READY(op)       (0)
  #define __Pyx_PyUnicode_GET_LENGTH(u)   PyUnicode_GetLength(u)
  #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i)
  #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u)   ((void)u, 1114111U)
  #define __Pyx_PyUnicode_KIND(u)         ((void)u, (0))
  #define __Pyx_PyUnicode_DATA(u)         ((void*)u)
  #define __Pyx_PyUnicode_READ(k, d, i)   ((void)k, PyUnicode_ReadChar((PyObject*)(d), i))
  #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != PyUnicode_GetLength(u))
#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND)
  #define CYTHON_PEP393_ENABLED 1
  #if PY_VERSION_HEX >= 0x030C0000
    #define __Pyx_PyUnicode_READY(op)       (0)
  #else
    #define __Pyx_PyUnicode_READY(op)       (likely(PyUnicode_IS_READY(op)) ?\
                                                0 : _PyUnicode_Ready((PyObject *)(op)))
  #endif
  #define __Pyx_PyUnicode_GET_LENGTH(u)   PyUnicode_GET_LENGTH(u)
  #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i)
  #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u)   PyUnicode_MAX_CHAR_VALUE(u)
  #define __Pyx_PyUnicode_KIND(u)         ((int)PyUnicode_KIND(u))
  #define __Pyx_PyUnicode_DATA(u)         PyUnicode_DATA(u)
  #define __Pyx_PyUnicode_READ(k, d, i)   PyUnicode_READ(k, d, i)
  #define __Pyx_PyUnicode_WRITE(k, d, i, ch)  PyUnicode_WRITE(k, d, i, (Py_UCS4) ch)
  #if PY_VERSION_HEX >= 0x030C0000
    #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != PyUnicode_GET_LENGTH(u))
  #else
    #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000
    #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length))
    #else
    #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u)))
    #endif
  #endif
#else
  #define CYTHON_PEP393_ENABLED 0
  #define PyUnicode_1BYTE_KIND  1
  #define PyUnicode_2BYTE_KIND  2
  #define PyUnicode_4BYTE_KIND  4
  #define __Pyx_PyUnicode_READY(op)       (0)
  #define __Pyx_PyUnicode_GET_LENGTH(u)   PyUnicode_GET_SIZE(u)
  #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i]))
  #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u)   ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U)
  #define __Pyx_PyUnicode_KIND(u)         ((int)sizeof(Py_UNICODE))
  #define __Pyx_PyUnicode_DATA(u)         ((void*)PyUnicode_AS_UNICODE(u))
  #define __Pyx_PyUnicode_READ(k, d, i)   ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i]))
  #define __Pyx_PyUnicode_WRITE(k, d, i, ch)  (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch)
  #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != PyUnicode_GET_SIZE(u))
#endif
#if CYTHON_COMPILING_IN_PYPY
  #define __Pyx_PyUnicode_Concat(a, b)      PyNumber_Add(a, b)
  #define __Pyx_PyUnicode_ConcatSafe(a, b)  PyNumber_Add(a, b)
#else
  #define __Pyx_PyUnicode_Concat(a, b)      PyUnicode_Concat(a, b)
  #define __Pyx_PyUnicode_ConcatSafe(a, b)  ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\
      PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b))
#endif
#if CYTHON_COMPILING_IN_PYPY
  #if !defined(PyUnicode_DecodeUnicodeEscape)
    #define PyUnicode_DecodeUnicodeEscape(s, size, errors)  PyUnicode_Decode(s, size, "unicode_escape", errors)
  #endif
  #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500)
    #undef PyUnicode_Contains
    #define PyUnicode_Contains(u, s)  PySequence_Contains(u, s)
  #endif
  #if !defined(PyByteArray_Check)
    #define PyByteArray_Check(obj)  PyObject_TypeCheck(obj, &PyByteArray_Type)
  #endif
  #if !defined(PyObject_Format)
    #define PyObject_Format(obj, fmt)  PyObject_CallMethod(obj, "__format__", "O", fmt)
  #endif
#endif
#define __Pyx_PyString_FormatSafe(a, b)   ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b))
#define __Pyx_PyUnicode_FormatSafe(a, b)  ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b))
#if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyString_Format(a, b)  PyUnicode_Format(a, b)
#else
  #define __Pyx_PyString_Format(a, b)  PyString_Format(a, b)
#endif
#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII)
  #define PyObject_ASCII(o)            PyObject_Repr(o)
#endif
#if PY_MAJOR_VERSION >= 3
  #define PyBaseString_Type            PyUnicode_Type
  #define PyStringObject               PyUnicodeObject
  #define PyString_Type                PyUnicode_Type
  #define PyString_Check               PyUnicode_Check
  #define PyString_CheckExact          PyUnicode_CheckExact
#ifndef PyObject_Unicode
  #define PyObject_Unicode             PyObject_Str
#endif
#endif
#if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj)
  #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj)
#else
  #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj))
  #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj))
#endif
#if CYTHON_COMPILING_IN_CPYTHON
  #define __Pyx_PySequence_ListKeepNew(obj)\
    (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj))
#else
  #define __Pyx_PySequence_ListKeepNew(obj)  PySequence_List(obj)
#endif
#ifndef PySet_CheckExact
  #define PySet_CheckExact(obj)        __Pyx_IS_TYPE(obj, &PySet_Type)
#endif
#if PY_VERSION_HEX >= 0x030900A4
  #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt)
  #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size)
#else
  #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt)
  #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size)
#endif
#if CYTHON_ASSUME_SAFE_MACROS
  #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i)
  #define __Pyx_PySequence_SIZE(seq)  Py_SIZE(seq)
  #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0))
  #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0))
  #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o)
  #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o)
  #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o)
  #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o)
  #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o)
#else
  #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i)
  #define __Pyx_PySequence_SIZE(seq)  PySequence_Size(seq)
  #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v)
  #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v)
  #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o)
  #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o)
  #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o)
  #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o)
  #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o)
#endif
#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1
  #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name)
#else
  static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) {
      PyObject *module = PyImport_AddModule(name);
      Py_XINCREF(module);
      return module;
  }
#endif
#if PY_MAJOR_VERSION >= 3
  #define PyIntObject                  PyLongObject
  #define PyInt_Type                   PyLong_Type
  #define PyInt_Check(op)              PyLong_Check(op)
  #define PyInt_CheckExact(op)         PyLong_CheckExact(op)
  #define __Pyx_Py3Int_Check(op)       PyLong_Check(op)
  #define __Pyx_Py3Int_CheckExact(op)  PyLong_CheckExact(op)
  #define PyInt_FromString             PyLong_FromString
  #define PyInt_FromUnicode            PyLong_FromUnicode
  #define PyInt_FromLong               PyLong_FromLong
  #define PyInt_FromSize_t             PyLong_FromSize_t
  #define PyInt_FromSsize_t            PyLong_FromSsize_t
  #define PyInt_AsLong                 PyLong_AsLong
  #define PyInt_AS_LONG                PyLong_AS_LONG
  #define PyInt_AsSsize_t              PyLong_AsSsize_t
  #define PyInt_AsUnsignedLongMask     PyLong_AsUnsignedLongMask
  #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask
  #define PyNumber_Int                 PyNumber_Long
#else
  #define __Pyx_Py3Int_Check(op)       (PyLong_Check(op) || PyInt_Check(op))
  #define __Pyx_Py3Int_CheckExact(op)  (PyLong_CheckExact(op) || PyInt_CheckExact(op))
#endif
#if PY_MAJOR_VERSION >= 3
  #define PyBoolObject                 PyLongObject
#endif
#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY
  #ifndef PyUnicode_InternFromString
    #define PyUnicode_InternFromString(s) PyUnicode_FromString(s)
  #endif
#endif
#if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
#else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
#endif
#if CYTHON_USE_ASYNC_SLOTS
  #if PY_VERSION_HEX >= 0x030500B1
    #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods
    #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async)
  #else
    #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved))
  #endif
#else
  #define __Pyx_PyType_AsAsync(obj) NULL
#endif
#ifndef __Pyx_PyAsyncMethodsStruct
    typedef struct {
        unaryfunc am_await;
        unaryfunc am_aiter;
        unaryfunc am_anext;
    } __Pyx_PyAsyncMethodsStruct;
#endif

#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS)
  #if !defined(_USE_MATH_DEFINES)
    #define _USE_MATH_DEFINES
  #endif
#endif
#include <math.h>
#ifdef NAN
#define __PYX_NAN() ((float) NAN)
#else
static CYTHON_INLINE float __PYX_NAN() {
  float value;
  memset(&value, 0xFF, sizeof(value));
  return value;
}
#endif
#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL)
#define __Pyx_truncl trunc
#else
#define __Pyx_truncl truncl
#endif

#define __PYX_MARK_ERR_POS(f_index, lineno) \
    { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__;  (void)__pyx_clineno; }
#define __PYX_ERR(f_index, lineno, Ln_error) \
    { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; }

#ifdef CYTHON_EXTERN_C
    #undef __PYX_EXTERN_C
    #define __PYX_EXTERN_C CYTHON_EXTERN_C
#elif defined(__PYX_EXTERN_C)
    #ifdef _MSC_VER
    #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.")
    #else
    #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.
    #endif
#else
  #ifdef __cplusplus
    #define __PYX_EXTERN_C extern "C"
  #else
    #define __PYX_EXTERN_C extern
  #endif
#endif

#define __PYX_HAVE__Robot
#define __PYX_HAVE_API__Robot
/* Early includes */
#ifdef _OPENMP
#include <omp.h>
#endif /* _OPENMP */

#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS)
#define CYTHON_WITHOUT_ASSERTIONS
#endif

typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding;
                const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry;

#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0
#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0
#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8)
#define __PYX_DEFAULT_STRING_ENCODING ""
#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString
#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize
#define __Pyx_uchar_cast(c) ((unsigned char)c)
#define __Pyx_long_cast(x) ((long)x)
#define __Pyx_fits_Py_ssize_t(v, type, is_signed)  (\
    (sizeof(type) < sizeof(Py_ssize_t))  ||\
    (sizeof(type) > sizeof(Py_ssize_t) &&\
          likely(v < (type)PY_SSIZE_T_MAX ||\
                 v == (type)PY_SSIZE_T_MAX)  &&\
          (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\
                                v == (type)PY_SSIZE_T_MIN)))  ||\
    (sizeof(type) == sizeof(Py_ssize_t) &&\
          (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\
                               v == (type)PY_SSIZE_T_MAX)))  )
static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) {
    return (size_t) i < (size_t) limit;
}
#if defined (__cplusplus) && __cplusplus >= 201103L
    #include <cstdlib>
    #define __Pyx_sst_abs(value) std::abs(value)
#elif SIZEOF_INT >= SIZEOF_SIZE_T
    #define __Pyx_sst_abs(value) abs(value)
#elif SIZEOF_LONG >= SIZEOF_SIZE_T
    #define __Pyx_sst_abs(value) labs(value)
#elif defined (_MSC_VER)
    #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value))
#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
    #define __Pyx_sst_abs(value) llabs(value)
#elif defined (__GNUC__)
    #define __Pyx_sst_abs(value) __builtin_llabs(value)
#else
    #define __Pyx_sst_abs(value) ((value<0) ? -value : value)
#endif
static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s);
static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*);
static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length);
static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*);
#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l)
#define __Pyx_PyBytes_FromString        PyBytes_FromString
#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize
static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*);
#if PY_MAJOR_VERSION < 3
    #define __Pyx_PyStr_FromString        __Pyx_PyBytes_FromString
    #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize
#else
    #define __Pyx_PyStr_FromString        __Pyx_PyUnicode_FromString
    #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize
#endif
#define __Pyx_PyBytes_AsWritableString(s)     ((char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsWritableSString(s)    ((signed char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsWritableUString(s)    ((unsigned char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsString(s)     ((const char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsSString(s)    ((const signed char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsUString(s)    ((const unsigned char*) PyBytes_AS_STRING(s))
#define __Pyx_PyObject_AsWritableString(s)    ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_AsWritableSString(s)    ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_AsWritableUString(s)    ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_AsSString(s)    ((const signed char*) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_AsUString(s)    ((const unsigned char*) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_FromCString(s)  __Pyx_PyObject_FromString((const char*)s)
#define __Pyx_PyBytes_FromCString(s)   __Pyx_PyBytes_FromString((const char*)s)
#define __Pyx_PyByteArray_FromCString(s)   __Pyx_PyByteArray_FromString((const char*)s)
#define __Pyx_PyStr_FromCString(s)     __Pyx_PyStr_FromString((const char*)s)
#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s)
#define __Pyx_PyUnicode_FromOrdinal(o)       PyUnicode_FromOrdinal((int)o)
#define __Pyx_PyUnicode_AsUnicode            PyUnicode_AsUnicode
#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj)
#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None)
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b);
static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*);
static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*);
static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
#define __Pyx_PySequence_Tuple(obj)\
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x)
#endif
#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x))
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x))
#else
#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x))
#endif
#if CYTHON_USE_PYLONG_INTERNALS
  #if PY_VERSION_HEX >= 0x030C00A7
  #ifndef _PyLong_SIGN_MASK
    #define _PyLong_SIGN_MASK 3
  #endif
  #ifndef _PyLong_NON_SIZE_BITS
    #define _PyLong_NON_SIZE_BITS 3
  #endif
  #define __Pyx_PyLong_Sign(x)  (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK)
  #define __Pyx_PyLong_IsNeg(x)  ((__Pyx_PyLong_Sign(x) & 2) != 0)
  #define __Pyx_PyLong_IsNonNeg(x)  (!__Pyx_PyLong_IsNeg(x))
  #define __Pyx_PyLong_IsZero(x)  (__Pyx_PyLong_Sign(x) & 1)
  #define __Pyx_PyLong_IsPos(x)  (__Pyx_PyLong_Sign(x) == 0)
  #define __Pyx_PyLong_CompactValueUnsigned(x)  (__Pyx_PyLong_Digits(x)[0])
  #define __Pyx_PyLong_DigitCount(x)  ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS))
  #define __Pyx_PyLong_SignedDigitCount(x)\
        ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x))
  #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue)
    #define __Pyx_PyLong_IsCompact(x)     PyUnstable_Long_IsCompact((PyLongObject*) x)
    #define __Pyx_PyLong_CompactValue(x)  PyUnstable_Long_CompactValue((PyLongObject*) x)
  #else
    #define __Pyx_PyLong_IsCompact(x)     (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS))
    #define __Pyx_PyLong_CompactValue(x)  ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0])
  #endif
  typedef Py_ssize_t  __Pyx_compact_pylong;
  typedef size_t  __Pyx_compact_upylong;
  #else
  #define __Pyx_PyLong_IsNeg(x)  (Py_SIZE(x) < 0)
  #define __Pyx_PyLong_IsNonNeg(x)  (Py_SIZE(x) >= 0)
  #define __Pyx_PyLong_IsZero(x)  (Py_SIZE(x) == 0)
  #define __Pyx_PyLong_IsPos(x)  (Py_SIZE(x) > 0)
  #define __Pyx_PyLong_CompactValueUnsigned(x)  ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0])
  #define __Pyx_PyLong_DigitCount(x)  __Pyx_sst_abs(Py_SIZE(x))
  #define __Pyx_PyLong_SignedDigitCount(x)  Py_SIZE(x)
  #define __Pyx_PyLong_IsCompact(x)  (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1)
  #define __Pyx_PyLong_CompactValue(x)\
        ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0]))
  typedef sdigit  __Pyx_compact_pylong;
  typedef digit  __Pyx_compact_upylong;
  #endif
  #if PY_VERSION_HEX >= 0x030C00A5
  #define __Pyx_PyLong_Digits(x)  (((PyLongObject*)x)->long_value.ob_digit)
  #else
  #define __Pyx_PyLong_Digits(x)  (((PyLongObject*)x)->ob_digit)
  #endif
#endif
#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
#include <string.h>
static int __Pyx_sys_getdefaultencoding_not_ascii;
static int __Pyx_init_sys_getdefaultencoding_params(void) {
    PyObject* sys;
    PyObject* default_encoding = NULL;
    PyObject* ascii_chars_u = NULL;
    PyObject* ascii_chars_b = NULL;
    const char* default_encoding_c;
    sys = PyImport_ImportModule("sys");
    if (!sys) goto bad;
    default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL);
    Py_DECREF(sys);
    if (!default_encoding) goto bad;
    default_encoding_c = PyBytes_AsString(default_encoding);
    if (!default_encoding_c) goto bad;
    if (strcmp(default_encoding_c, "ascii") == 0) {
        __Pyx_sys_getdefaultencoding_not_ascii = 0;
    } else {
        char ascii_chars[128];
        int c;
        for (c = 0; c < 128; c++) {
            ascii_chars[c] = (char) c;
        }
        __Pyx_sys_getdefaultencoding_not_ascii = 1;
        ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL);
        if (!ascii_chars_u) goto bad;
        ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL);
        if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) {
            PyErr_Format(
                PyExc_ValueError,
                "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.",
                default_encoding_c);
            goto bad;
        }
        Py_DECREF(ascii_chars_u);
        Py_DECREF(ascii_chars_b);
    }
    Py_DECREF(default_encoding);
    return 0;
bad:
    Py_XDECREF(default_encoding);
    Py_XDECREF(ascii_chars_u);
    Py_XDECREF(ascii_chars_b);
    return -1;
}
#endif
#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3
#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL)
#else
#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL)
#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
#include <string.h>
static char* __PYX_DEFAULT_STRING_ENCODING;
static int __Pyx_init_sys_getdefaultencoding_params(void) {
    PyObject* sys;
    PyObject* default_encoding = NULL;
    char* default_encoding_c;
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struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call;
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struct __pyx_defaults1;
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struct __pyx_defaults3;
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struct __pyx_defaults8;
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struct __pyx_defaults9;
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/* "Robot.py":177
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struct __pyx_obj_5Robot___pyx_scope_struct__xmlrpc_timeout {
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/* "Robot.py":516
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struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call {
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    static PY_UINT64_T __pyx_dict_version = 0;\
    static PyObject *__pyx_dict_cached_value = NULL;\
    (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\
        (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\
        __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\
} while(0)
#define __Pyx_GetModuleGlobalNameUncached(var, name)  do {\
    PY_UINT64_T __pyx_dict_version;\
    PyObject *__pyx_dict_cached_value;\
    (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\
} while(0)
static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value);
#else
#define __Pyx_GetModuleGlobalName(var, name)  (var) = __Pyx__GetModuleGlobalName(name)
#define __Pyx_GetModuleGlobalNameUncached(var, name)  (var) = __Pyx__GetModuleGlobalName(name)
static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name);
#endif

/* PyIntCompare.proto */
static CYTHON_INLINE int __Pyx_PyInt_BoolEqObjC(PyObject *op1, PyObject *op2, long intval, long inplace);

/* ListAppend.proto */
#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS
static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) {
    PyListObject* L = (PyListObject*) list;
    Py_ssize_t len = Py_SIZE(list);
    if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) {
        Py_INCREF(x);
        #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000
        L->ob_item[len] = x;
        #else
        PyList_SET_ITEM(list, len, x);
        #endif
        __Pyx_SET_SIZE(list, len + 1);
        return 0;
    }
    return PyList_Append(list, x);
}
#else
#define __Pyx_PyList_Append(L,x) PyList_Append(L,x)
#endif

/* PyObjectCall2Args.proto */
static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2);

/* PyObjectCallOneArg.proto */
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg);

/* PyObjectGetMethod.proto */
static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method);

/* PyObjectCallMethod1.proto */
static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg);

/* append.proto */
static CYTHON_INLINE int __Pyx_PyObject_Append(PyObject* L, PyObject* x);

/* PyObjectFormatSimple.proto */
#if CYTHON_COMPILING_IN_PYPY
    #define __Pyx_PyObject_FormatSimple(s, f) (\
        likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\
        PyObject_Format(s, f))
#elif PY_MAJOR_VERSION < 3
    #define __Pyx_PyObject_FormatSimple(s, f) (\
        likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\
        likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\
        PyObject_Format(s, f))
#elif CYTHON_USE_TYPE_SLOTS
    #define __Pyx_PyObject_FormatSimple(s, f) (\
        likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\
        likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\
        likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\
        PyObject_Format(s, f))
#else
    #define __Pyx_PyObject_FormatSimple(s, f) (\
        likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\
        PyObject_Format(s, f))
#endif

/* UnicodeConcatInPlace.proto */
# if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION >= 3
    #if CYTHON_REFNANNY
        #define __Pyx_PyUnicode_ConcatInPlace(left, right) __Pyx_PyUnicode_ConcatInPlaceImpl(&left, right, __pyx_refnanny)
    #else
        #define __Pyx_PyUnicode_ConcatInPlace(left, right) __Pyx_PyUnicode_ConcatInPlaceImpl(&left, right)
    #endif
    static CYTHON_INLINE PyObject *__Pyx_PyUnicode_ConcatInPlaceImpl(PyObject **p_left, PyObject *right
        #if CYTHON_REFNANNY
        , void* __pyx_refnanny
        #endif
    );
#else
#define __Pyx_PyUnicode_ConcatInPlace __Pyx_PyUnicode_Concat
#endif
#define __Pyx_PyUnicode_ConcatInPlaceSafe(left, right) ((unlikely((left) == Py_None) || unlikely((right) == Py_None)) ?\
    PyNumber_InPlaceAdd(left, right) : __Pyx_PyUnicode_ConcatInPlace(left, right))

/* RaiseException.proto */
static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause);

/* PyObjectLookupSpecial.proto */
#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS
#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name)  __Pyx__PyObject_LookupSpecial(obj, attr_name, 0)
#define __Pyx_PyObject_LookupSpecial(obj, attr_name)  __Pyx__PyObject_LookupSpecial(obj, attr_name, 1)
static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error);
#else
#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n)
#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n)
#endif

/* GetTopmostException.proto */
#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE
static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate);
#endif

/* SaveResetException.proto */
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_ExceptionSave(type, value, tb)  __Pyx__ExceptionSave(__pyx_tstate, type, value, tb)
static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb);
#define __Pyx_ExceptionReset(type, value, tb)  __Pyx__ExceptionReset(__pyx_tstate, type, value, tb)
static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb);
#else
#define __Pyx_ExceptionSave(type, value, tb)   PyErr_GetExcInfo(type, value, tb)
#define __Pyx_ExceptionReset(type, value, tb)  PyErr_SetExcInfo(type, value, tb)
#endif

/* GetException.proto */
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_GetException(type, value, tb)  __Pyx__GetException(__pyx_tstate, type, value, tb)
static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb);
#else
static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb);
#endif

/* RaiseClosureNameError.proto */
static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname);

/* IncludeStructmemberH.proto */
#include <structmember.h>

/* FixUpExtensionType.proto */
#if CYTHON_USE_TYPE_SPECS
static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type);
#endif

/* FetchSharedCythonModule.proto */
static PyObject *__Pyx_FetchSharedCythonABIModule(void);

/* FetchCommonType.proto */
#if !CYTHON_USE_TYPE_SPECS
static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type);
#else
static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases);
#endif

/* PyMethodNew.proto */
#if CYTHON_COMPILING_IN_LIMITED_API
static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) {
    PyObject *typesModule=NULL, *methodType=NULL, *result=NULL;
    CYTHON_UNUSED_VAR(typ);
    if (!self)
        return __Pyx_NewRef(func);
    typesModule = PyImport_ImportModule("types");
    if (!typesModule) return NULL;
    methodType = PyObject_GetAttrString(typesModule, "MethodType");
    Py_DECREF(typesModule);
    if (!methodType) return NULL;
    result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL);
    Py_DECREF(methodType);
    return result;
}
#elif PY_MAJOR_VERSION >= 3
static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) {
    CYTHON_UNUSED_VAR(typ);
    if (!self)
        return __Pyx_NewRef(func);
    return PyMethod_New(func, self);
}
#else
    #define __Pyx_PyMethod_New PyMethod_New
#endif

/* PyVectorcallFastCallDict.proto */
#if CYTHON_METH_FASTCALL
static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw);
#endif

/* CythonFunctionShared.proto */
#define __Pyx_CyFunction_USED
#define __Pyx_CYFUNCTION_STATICMETHOD  0x01
#define __Pyx_CYFUNCTION_CLASSMETHOD   0x02
#define __Pyx_CYFUNCTION_CCLASS        0x04
#define __Pyx_CYFUNCTION_COROUTINE     0x08
#define __Pyx_CyFunction_GetClosure(f)\
    (((__pyx_CyFunctionObject *) (f))->func_closure)
#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API
  #define __Pyx_CyFunction_GetClassObj(f)\
      (((__pyx_CyFunctionObject *) (f))->func_classobj)
#else
  #define __Pyx_CyFunction_GetClassObj(f)\
      ((PyObject*) ((PyCMethodObject *) (f))->mm_class)
#endif
#define __Pyx_CyFunction_SetClassObj(f, classobj)\
    __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj))
#define __Pyx_CyFunction_Defaults(type, f)\
    ((type *)(((__pyx_CyFunctionObject *) (f))->defaults))
#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\
    ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g)
typedef struct {
#if CYTHON_COMPILING_IN_LIMITED_API
    PyObject_HEAD
    PyObject *func;
#elif PY_VERSION_HEX < 0x030900B1
    PyCFunctionObject func;
#else
    PyCMethodObject func;
#endif
#if CYTHON_BACKPORT_VECTORCALL
    __pyx_vectorcallfunc func_vectorcall;
#endif
#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API
    PyObject *func_weakreflist;
#endif
    PyObject *func_dict;
    PyObject *func_name;
    PyObject *func_qualname;
    PyObject *func_doc;
    PyObject *func_globals;
    PyObject *func_code;
    PyObject *func_closure;
#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API
    PyObject *func_classobj;
#endif
    void *defaults;
    int defaults_pyobjects;
    size_t defaults_size;
    int flags;
    PyObject *defaults_tuple;
    PyObject *defaults_kwdict;
    PyObject *(*defaults_getter)(PyObject *);
    PyObject *func_annotations;
    PyObject *func_is_coroutine;
} __pyx_CyFunctionObject;
#undef __Pyx_CyOrPyCFunction_Check
#define __Pyx_CyFunction_Check(obj)  __Pyx_TypeCheck(obj, __pyx_CyFunctionType)
#define __Pyx_CyOrPyCFunction_Check(obj)  __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type)
#define __Pyx_CyFunction_CheckExact(obj)  __Pyx_IS_TYPE(obj, __pyx_CyFunctionType)
static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc);
#undef __Pyx_IsSameCFunction
#define __Pyx_IsSameCFunction(func, cfunc)   __Pyx__IsSameCyOrCFunction(func, cfunc)
static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml,
                                      int flags, PyObject* qualname,
                                      PyObject *closure,
                                      PyObject *module, PyObject *globals,
                                      PyObject* code);
static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj);
static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m,
                                                         size_t size,
                                                         int pyobjects);
static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m,
                                                            PyObject *tuple);
static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m,
                                                             PyObject *dict);
static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m,
                                                              PyObject *dict);
static int __pyx_CyFunction_init(PyObject *module);
#if CYTHON_METH_FASTCALL
static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames);
static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames);
static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames);
static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames);
#if CYTHON_BACKPORT_VECTORCALL
#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall)
#else
#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall)
#endif
#endif

/* CythonFunction.proto */
static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml,
                                      int flags, PyObject* qualname,
                                      PyObject *closure,
                                      PyObject *module, PyObject *globals,
                                      PyObject* code);

/* FastTypeChecks.proto */
#if CYTHON_COMPILING_IN_CPYTHON
#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type)
#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2)
static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b);
static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b);
static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type);
static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2);
#else
#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type)
#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2))
#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type)
#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2))
#endif
#define __Pyx_PyErr_ExceptionMatches2(err1, err2)  __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2)
#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception)

/* SwapException.proto */
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_ExceptionSwap(type, value, tb)  __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb)
static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb);
#else
static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb);
#endif

/* GCCDiagnostics.proto */
#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
#define __Pyx_HAS_GCC_DIAGNOSTIC
#endif

/* BuildPyUnicode.proto */
static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength,
                                                int prepend_sign, char padding_char);

/* CIntToPyUnicode.proto */
static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_long(long value, Py_ssize_t width, char padding_char, char format_char);

/* JoinPyUnicode.proto */
static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength,
                                      Py_UCS4 max_char);

/* GetItemInt.proto */
#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
    (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
    __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\
    (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\
               __Pyx_GetItemInt_Generic(o, to_py_func(i))))
#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
    (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
    __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\
    (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL))
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i,
                                                              int wraparound, int boundscheck);
#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
    (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
    __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\
    (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL))
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i,
                                                              int wraparound, int boundscheck);
static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j);
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i,
                                                     int is_list, int wraparound, int boundscheck);

/* ObjectGetItem.proto */
#if CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key);
#else
#define __Pyx_PyObject_GetItem(obj, key)  PyObject_GetItem(obj, key)
#endif

/* StrEquals.proto */
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals
#else
#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals
#endif

/* PyIntBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2))
#endif

/* SetItemIntByteArray.proto */
#define __Pyx_SetItemInt_ByteArray(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
    (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
    __Pyx_SetItemInt_ByteArray_Fast(o, (Py_ssize_t)i, v, wraparound, boundscheck) :\
    (PyErr_SetString(PyExc_IndexError, "bytearray index out of range"), -1))
static CYTHON_INLINE int __Pyx_SetItemInt_ByteArray_Fast(PyObject* string, Py_ssize_t i, unsigned char v,
                                                         int wraparound, int boundscheck);

/* PyIntBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_LshiftObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyInt_LshiftObjC(op1, op2, intval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceLshift(op1, op2) : PyNumber_Lshift(op1, op2))
#endif

/* SliceObject.proto */
#define __Pyx_PyObject_DelSlice(obj, cstart, cstop, py_start, py_stop, py_slice, has_cstart, has_cstop, wraparound)\
    __Pyx_PyObject_SetSlice(obj, (PyObject*)NULL, cstart, cstop, py_start, py_stop, py_slice, has_cstart, has_cstop, wraparound)
static CYTHON_INLINE int __Pyx_PyObject_SetSlice(
        PyObject* obj, PyObject* value, Py_ssize_t cstart, Py_ssize_t cstop,
        PyObject** py_start, PyObject** py_stop, PyObject** py_slice,
        int has_cstart, int has_cstop, int wraparound);

/* SetItemInt.proto */
#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
    (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
    __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\
    (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\
               __Pyx_SetItemInt_Generic(o, to_py_func(i), v)))
static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v);
static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v,
                                               int is_list, int wraparound, int boundscheck);

/* dict_getitem_default.proto */
static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value);

/* UnpackUnboundCMethod.proto */
typedef struct {
    PyObject *type;
    PyObject **method_name;
    PyCFunction func;
    PyObject *method;
    int flag;
} __Pyx_CachedCFunction;

/* CallUnboundCMethod1.proto */
static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg);
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg);
#else
#define __Pyx_CallUnboundCMethod1(cfunc, self, arg)  __Pyx__CallUnboundCMethod1(cfunc, self, arg)
#endif

/* CallUnboundCMethod2.proto */
static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2);
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1
static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2);
#else
#define __Pyx_CallUnboundCMethod2(cfunc, self, arg1, arg2)  __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2)
#endif

/* StringJoin.proto */
#if PY_MAJOR_VERSION < 3
#define __Pyx_PyString_Join __Pyx_PyBytes_Join
#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v))
#else
#define __Pyx_PyString_Join PyUnicode_Join
#define __Pyx_PyBaseString_Join PyUnicode_Join
#endif
static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values);

/* IterFinish.proto */
static CYTHON_INLINE int __Pyx_IterFinish(void);

/* PyObjectCallNoArg.proto */
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func);

/* PyObjectCallMethod0.proto */
static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name);

/* RaiseNeedMoreValuesToUnpack.proto */
static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index);

/* RaiseTooManyValuesToUnpack.proto */
static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected);

/* UnpackItemEndCheck.proto */
static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected);

/* RaiseNoneIterError.proto */
static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void);

/* UnpackTupleError.proto */
static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index);

/* UnpackTuple2.proto */
#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\
    (likely(is_tuple || PyTuple_Check(tuple)) ?\
        (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\
            __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\
            (__Pyx_UnpackTupleError(tuple, 2), -1)) :\
        __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple))
static CYTHON_INLINE int __Pyx_unpack_tuple2_exact(
    PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple);
static int __Pyx_unpack_tuple2_generic(
    PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple);

/* dict_iter.proto */
static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name,
                                                   Py_ssize_t* p_orig_length, int* p_is_dict);
static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos,
                                              PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict);

/* ListCompAppend.proto */
#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS
static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) {
    PyListObject* L = (PyListObject*) list;
    Py_ssize_t len = Py_SIZE(list);
    if (likely(L->allocated > len)) {
        Py_INCREF(x);
        #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000
        L->ob_item[len] = x;
        #else
        PyList_SET_ITEM(list, len, x);
        #endif
        __Pyx_SET_SIZE(list, len + 1);
        return 0;
    }
    return PyList_Append(list, x);
}
#else
#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x)
#endif

/* RaiseUnboundLocalError.proto */
static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname);

/* PyIntCompare.proto */
static CYTHON_INLINE int __Pyx_PyInt_BoolNeObjC(PyObject *op1, PyObject *op2, long intval, long inplace);

/* pybytes_as_double.proto */
static double __Pyx_SlowPyString_AsDouble(PyObject *obj);
static double __Pyx__PyBytes_AsDouble(PyObject *obj, const char* start, Py_ssize_t length);
static CYTHON_INLINE double __Pyx_PyBytes_AsDouble(PyObject *obj) {
    char* as_c_string;
    Py_ssize_t size;
#if CYTHON_ASSUME_SAFE_MACROS
    as_c_string = PyBytes_AS_STRING(obj);
    size = PyBytes_GET_SIZE(obj);
#else
    if (PyBytes_AsStringAndSize(obj, &as_c_string, &size) < 0) {
        return (double)-1;
    }
#endif
    return __Pyx__PyBytes_AsDouble(obj, as_c_string, size);
}
static CYTHON_INLINE double __Pyx_PyByteArray_AsDouble(PyObject *obj) {
    char* as_c_string;
    Py_ssize_t size;
#if CYTHON_ASSUME_SAFE_MACROS
    as_c_string = PyByteArray_AS_STRING(obj);
    size = PyByteArray_GET_SIZE(obj);
#else
    as_c_string = PyByteArray_AsString(obj);
    if (as_c_string == NULL) {
        return (double)-1;
    }
    size = PyByteArray_Size(obj);
#endif
    return __Pyx__PyBytes_AsDouble(obj, as_c_string, size);
}

/* pyunicode_as_double.proto */
#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY && CYTHON_ASSUME_SAFE_MACROS
static const char* __Pyx__PyUnicode_AsDouble_Copy(const void* data, const int kind, char* buffer, Py_ssize_t start, Py_ssize_t end) {
    int last_was_punctuation;
    Py_ssize_t i;
    last_was_punctuation = 1;
    for (i=start; i <= end; i++) {
        Py_UCS4 chr = PyUnicode_READ(kind, data, i);
        int is_punctuation = (chr == '_') | (chr == '.');
        *buffer = (char)chr;
        buffer += (chr != '_');
        if (unlikely(chr > 127)) goto parse_failure;
        if (unlikely(last_was_punctuation & is_punctuation)) goto parse_failure;
        last_was_punctuation = is_punctuation;
    }
    if (unlikely(last_was_punctuation)) goto parse_failure;
    *buffer = '\0';
    return buffer;
parse_failure:
    return NULL;
}
static double __Pyx__PyUnicode_AsDouble_inf_nan(const void* data, int kind, Py_ssize_t start, Py_ssize_t length) {
    int matches = 1;
    Py_UCS4 chr;
    Py_UCS4 sign = PyUnicode_READ(kind, data, start);
    int is_signed = (sign == '-') | (sign == '+');
    start += is_signed;
    length -= is_signed;
    switch (PyUnicode_READ(kind, data, start)) {
        #ifdef Py_NAN
        case 'n':
        case 'N':
            if (unlikely(length != 3)) goto parse_failure;
            chr = PyUnicode_READ(kind, data, start+1);
            matches &= (chr == 'a') | (chr == 'A');
            chr = PyUnicode_READ(kind, data, start+2);
            matches &= (chr == 'n') | (chr == 'N');
            if (unlikely(!matches)) goto parse_failure;
            return (sign == '-') ? -Py_NAN : Py_NAN;
        #endif
        case 'i':
        case 'I':
            if (unlikely(length < 3)) goto parse_failure;
            chr = PyUnicode_READ(kind, data, start+1);
            matches &= (chr == 'n') | (chr == 'N');
            chr = PyUnicode_READ(kind, data, start+2);
            matches &= (chr == 'f') | (chr == 'F');
            if (likely(length == 3 && matches))
                return (sign == '-') ? -Py_HUGE_VAL : Py_HUGE_VAL;
            if (unlikely(length != 8)) goto parse_failure;
            chr = PyUnicode_READ(kind, data, start+3);
            matches &= (chr == 'i') | (chr == 'I');
            chr = PyUnicode_READ(kind, data, start+4);
            matches &= (chr == 'n') | (chr == 'N');
            chr = PyUnicode_READ(kind, data, start+5);
            matches &= (chr == 'i') | (chr == 'I');
            chr = PyUnicode_READ(kind, data, start+6);
            matches &= (chr == 't') | (chr == 'T');
            chr = PyUnicode_READ(kind, data, start+7);
            matches &= (chr == 'y') | (chr == 'Y');
            if (unlikely(!matches)) goto parse_failure;
            return (sign == '-') ? -Py_HUGE_VAL : Py_HUGE_VAL;
        case '.': case '0': case '1': case '2': case '3': case '4': case '5': case '6': case '7': case '8': case '9':
            break;
        default:
            goto parse_failure;
    }
    return 0.0;
parse_failure:
    return -1.0;
}
static double __Pyx_PyUnicode_AsDouble_WithSpaces(PyObject *obj) {
    double value;
    const char *last;
    char *end;
    Py_ssize_t start, length = PyUnicode_GET_LENGTH(obj);
    const int kind = PyUnicode_KIND(obj);
    const void* data = PyUnicode_DATA(obj);
    start = 0;
    while (Py_UNICODE_ISSPACE(PyUnicode_READ(kind, data, start)))
        start++;
    while (start < length - 1 && Py_UNICODE_ISSPACE(PyUnicode_READ(kind, data, length - 1)))
        length--;
    length -= start;
    if (unlikely(length <= 0)) goto fallback;
    value = __Pyx__PyUnicode_AsDouble_inf_nan(data, kind, start, length);
    if (unlikely(value == -1.0)) goto fallback;
    if (value != 0.0) return value;
    if (length < 40) {
        char number[40];
        last = __Pyx__PyUnicode_AsDouble_Copy(data, kind, number, start, start + length);
        if (unlikely(!last)) goto fallback;
        value = PyOS_string_to_double(number, &end, NULL);
    } else {
        char *number = (char*) PyMem_Malloc((length + 1) * sizeof(char));
        if (unlikely(!number)) goto fallback;
        last = __Pyx__PyUnicode_AsDouble_Copy(data, kind, number, start, start + length);
        if (unlikely(!last)) {
            PyMem_Free(number);
            goto fallback;
        }
        value = PyOS_string_to_double(number, &end, NULL);
        PyMem_Free(number);
    }
    if (likely(end == last) || (value == (double)-1 && PyErr_Occurred())) {
        return value;
    }
fallback:
    return __Pyx_SlowPyString_AsDouble(obj);
}
#endif
static CYTHON_INLINE double __Pyx_PyUnicode_AsDouble(PyObject *obj) {
#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY && CYTHON_ASSUME_SAFE_MACROS
    if (unlikely(__Pyx_PyUnicode_READY(obj) == -1))
        return (double)-1;
    if (likely(PyUnicode_IS_ASCII(obj))) {
        const char *s;
        Py_ssize_t length;
        s = PyUnicode_AsUTF8AndSize(obj, &length);
        return __Pyx__PyBytes_AsDouble(obj, s, length);
    }
    return __Pyx_PyUnicode_AsDouble_WithSpaces(obj);
#else
    return __Pyx_SlowPyString_AsDouble(obj);
#endif
}

/* pynumber_float.proto */
static CYTHON_INLINE PyObject* __Pyx__PyNumber_Float(PyObject* obj);
#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : __Pyx__PyNumber_Float(x))

/* PyFloatBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static int __Pyx_PyFloat_BoolEqObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyFloat_BoolEqObjC(op1, op2, floatval, inplace, zerodivision_check)\
    __Pyx_PyObject_IsTrueAndDecref(PyObject_RichCompare(op1, op2, Py_EQ))
    #endif

/* PyIntBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_SubtractObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyInt_SubtractObjC(op1, op2, intval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceSubtract(op1, op2) : PyNumber_Subtract(op1, op2))
#endif

/* PyFloatBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_TrueDivideObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyFloat_TrueDivideObjC(op1, op2, floatval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceTrueDivide(op1, op2) : PyNumber_TrueDivide(op1, op2))
#endif

/* PyObject_Str.proto */
#define __Pyx_PyObject_Str(obj)\
    (likely(PyString_CheckExact(obj)) ? __Pyx_NewRef(obj) : PyObject_Str(obj))

/* PyIntBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_MultiplyObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyInt_MultiplyObjC(op1, op2, intval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceMultiply(op1, op2) : PyNumber_Multiply(op1, op2))
#endif

/* PyIntBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_RemainderObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyInt_RemainderObjC(op1, op2, intval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceRemainder(op1, op2) : PyNumber_Remainder(op1, op2))
#endif

/* decode_c_string_utf16.proto */
static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) {
    int byteorder = 0;
    return PyUnicode_DecodeUTF16(s, size, errors, &byteorder);
}
static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) {
    int byteorder = -1;
    return PyUnicode_DecodeUTF16(s, size, errors, &byteorder);
}
static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) {
    int byteorder = 1;
    return PyUnicode_DecodeUTF16(s, size, errors, &byteorder);
}

/* decode_c_bytes.proto */
static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes(
         const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop,
         const char* encoding, const char* errors,
         PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors));

/* decode_bytearray.proto */
static CYTHON_INLINE PyObject* __Pyx_decode_bytearray(
         PyObject* string, Py_ssize_t start, Py_ssize_t stop,
         const char* encoding, const char* errors,
         PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) {
    char* as_c_string;
    Py_ssize_t size;
#if CYTHON_ASSUME_SAFE_MACROS
    as_c_string = PyByteArray_AS_STRING(string);
    size = PyByteArray_GET_SIZE(string);
#else
    if (!(as_c_string = PyByteArray_AsString(string))) return NULL;
    if ((size = PyByteArray_Size(string)) < 0) return NULL;
#endif
    return __Pyx_decode_c_bytes(
        as_c_string, size,
        start, stop, encoding, errors, decode_func);
}

/* PyObjectFormat.proto */
#if CYTHON_USE_UNICODE_WRITER
static PyObject* __Pyx_PyObject_Format(PyObject* s, PyObject* f);
#else
#define __Pyx_PyObject_Format(s, f) PyObject_Format(s, f)
#endif

/* SliceObject.proto */
static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(
        PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop,
        PyObject** py_start, PyObject** py_stop, PyObject** py_slice,
        int has_cstart, int has_cstop, int wraparound);

/* PyIntCompare.proto */
static CYTHON_INLINE int __Pyx_PyInt_BoolEqCObj(PyObject *op1, PyObject *op2, long intval, long inplace);

/* PyIntCompare.proto */
static CYTHON_INLINE int __Pyx_PyInt_BoolNeCObj(PyObject *op1, PyObject *op2, long intval, long inplace);

/* DictGetItem.proto */
#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY
static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key);
#define __Pyx_PyObject_Dict_GetItem(obj, name)\
    (likely(PyDict_CheckExact(obj)) ?\
     __Pyx_PyDict_GetItem(obj, name) : PyObject_GetItem(obj, name))
#else
#define __Pyx_PyDict_GetItem(d, key) PyObject_GetItem(d, key)
#define __Pyx_PyObject_Dict_GetItem(obj, name)  PyObject_GetItem(obj, name)
#endif

/* ValidateBasesTuple.proto */
#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS
static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases);
#endif

/* PyType_Ready.proto */
CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t);

/* PyObject_GenericGetAttrNoDict.proto */
#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000
static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name);
#else
#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr
#endif

/* Import.proto */
static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level);

/* ImportDottedModule.proto */
static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple);
#if PY_MAJOR_VERSION >= 3
static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple);
#endif

/* ImportFrom.proto */
static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name);

/* Py3UpdateBases.proto */
static PyObject* __Pyx_PEP560_update_bases(PyObject *bases);

/* CalculateMetaclass.proto */
static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases);

/* SetNameInClass.proto */
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000
#define __Pyx_SetNameInClass(ns, name, value)\
    (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value))
#elif CYTHON_COMPILING_IN_CPYTHON
#define __Pyx_SetNameInClass(ns, name, value)\
    (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value))
#else
#define __Pyx_SetNameInClass(ns, name, value)  PyObject_SetItem(ns, name, value)
#endif

/* Py3ClassCreate.proto */
static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname,
                                           PyObject *mkw, PyObject *modname, PyObject *doc);
static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict,
                                      PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass);

/* CyFunctionClassCell.proto */
static int __Pyx_CyFunction_InitClassCell(PyObject *cyfunctions, PyObject *classobj);

/* CLineInTraceback.proto */
#ifdef CYTHON_CLINE_IN_TRACEBACK
#define __Pyx_CLineForTraceback(tstate, c_line)  (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0)
#else
static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line);
#endif

/* CodeObjectCache.proto */
#if !CYTHON_COMPILING_IN_LIMITED_API
typedef struct {
    PyCodeObject* code_object;
    int code_line;
} __Pyx_CodeObjectCacheEntry;
struct __Pyx_CodeObjectCache {
    int count;
    int max_count;
    __Pyx_CodeObjectCacheEntry* entries;
};
static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL};
static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line);
static PyCodeObject *__pyx_find_code_object(int code_line);
static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object);
#endif

/* AddTraceback.proto */
static void __Pyx_AddTraceback(const char *funcname, int c_line,
                               int py_line, const char *filename);

/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value);

/* CIntFromPy.proto */
static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *);

/* CIntFromPy.proto */
static CYTHON_INLINE unsigned char __Pyx_PyInt_As_unsigned_char(PyObject *);

/* FormatTypeName.proto */
#if CYTHON_COMPILING_IN_LIMITED_API
typedef PyObject *__Pyx_TypeName;
#define __Pyx_FMT_TYPENAME "%U"
static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp);
#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj)
#else
typedef const char *__Pyx_TypeName;
#define __Pyx_FMT_TYPENAME "%.200s"
#define __Pyx_PyType_GetName(tp) ((tp)->tp_name)
#define __Pyx_DECREF_TypeName(obj)
#endif

/* CIntFromPy.proto */
static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *);

/* CStringEquals.proto */
static CYTHON_INLINE int __Pyx_StrEq(const char *, const char *);

/* CheckBinaryVersion.proto */
static unsigned long __Pyx_get_runtime_version(void);
static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer);

/* InitStrings.proto */
static int __Pyx_InitStrings(__Pyx_StringTabEntry *t);

/* #### Code section: module_declarations ### */

/* Module declarations from "Robot" */
/* #### Code section: typeinfo ### */
/* #### Code section: before_global_var ### */
#define __Pyx_MODULE_NAME "Robot"
extern int __pyx_module_is_main_Robot;
int __pyx_module_is_main_Robot = 0;

/* Implementation of "Robot" */
/* #### Code section: global_var ### */
static PyObject *__pyx_builtin_super;
static PyObject *__pyx_builtin_ValueError;
static PyObject *__pyx_builtin_open;
static PyObject *__pyx_builtin_print;
static PyObject *__pyx_builtin_range;
static PyObject *__pyx_builtin_format;
static PyObject *__pyx_builtin_sum;
static PyObject *__pyx_builtin_map;
/* #### Code section: string_decls ### */
static const char __pyx_k_[] = " \344\270\215\345\255\230\345\234\250";
static const char __pyx_k_1[] = "\346\216\245\346\224\266\346\234\272\345\231\250\344\272\272\347\212\266\346\200\201\345\255\227\350\212\202 -1";
static const char __pyx_k_B[] = "B";
static const char __pyx_k_F[] = "F";
static const char __pyx_k_K[] = "K";
static const char __pyx_k_M[] = "M";
static const char __pyx_k_a[] = "a";
static const char __pyx_k_e[] = "e";
static const char __pyx_k_f[] = "f";
static const char __pyx_k_i[] = "i";
static const char __pyx_k_p[] = "p";
static const char __pyx_k_r[] = "r";
static const char __pyx_k_t[] = "t";
static const char __pyx_k_x[] = "x";
static const char __pyx_k_y[] = "y";
static const char __pyx_k_z[] = "z";
static const char __pyx_k_5A[] = "5A";
static const char __pyx_k__6[] = "\345\217\257\350\203\275\346\230\257\347\275\221\347\273\234\346\225\205\351\232\234\357\274\214\350\257\267\346\243\200\346\237\245\347\275\221\347\273\234\350\277\236\346\216\245\343\200\202";
static const char __pyx_k__8[] = "\350\277\236\346\216\245\350\266\205\346\227\266\357\274\214\350\257\267\346\243\200\346\237\245\347\275\221\347\273\234\350\277\236\346\216\245\343\200\202";
static const char __pyx_k_dr[] = "dr";
static const char __pyx_k_dx[] = "dx";
static const char __pyx_k_dz[] = "dz";
static const char __pyx_k_ex[] = "ex";
static const char __pyx_k_fs[] = "fs";
static const char __pyx_k_ft[] = "ft";
static const char __pyx_k_fx[] = "fx";
static const char __pyx_k_fy[] = "fy";
static const char __pyx_k_fz[] = "fz";
static const char __pyx_k_gc[] = "gc";
static const char __pyx_k_id[] = "id";
static const char __pyx_k_ip[] = "ip";
static const char __pyx_k_nb[] = "nb";
static const char __pyx_k_os[] = "os";
static const char __pyx_k_rb[] = "rb";
static const char __pyx_k_tx[] = "tx";
static const char __pyx_k_ty[] = "ty";
static const char __pyx_k_tz[] = "tz";
static const char __pyx_k_wb[] = "wb";
static const char __pyx_k_02X[] = "02X";
static const char __pyx_k_08d[] = "08d";
static const char __pyx_k_10d[] = "10d";
static const char __pyx_k_1_2[] = "1";
static const char __pyx_k_4_2[] = "4.2";
static const char __pyx_k_III[] = "III";
static const char __pyx_k_RPC[] = "RPC";
static const char __pyx_k_SDK[] = "SDK\350\277\236\346\216\245\346\234\272\345\231\250\344\272\272\345\256\236\346\227\266\347\253\257\345\217\243\345\244\261\350\264\245";
static const char __pyx_k__10[] = "\346\226\255\350\201\224";
static const char __pyx_k__12[] = "\345\260\235\350\257\225\351\207\215\346\226\260\350\277\236\346\216\245";
static const char __pyx_k__14[] = "\351\207\215\346\226\260\350\277\236\346\216\245\346\210\220\345\212\237";
static const char __pyx_k__16[] = "\351\207\215\346\226\260\350\277\236\346\216\245\345\244\261\350\264\245\357\274\214\347\255\211\345\276\205 ";
static const char __pyx_k__17[] = " \347\247\222\345\220\216\351\207\215\350\257\225...";
static const char __pyx_k__18[] = "\345\267\262\350\276\276\345\210\260\346\234\200\345\244\247\351\207\215\350\277\236\346\254\241\346\225\260\357\274\214\350\277\236\346\216\245\345\244\261\350\264\245";
static const char __pyx_k__22[] = "";
static const char __pyx_k__24[] = ", ";
static const char __pyx_k__25[] = "=";
static const char __pyx_k__26[] = "(";
static const char __pyx_k__27[] = ").";
static const char __pyx_k__28[] = ",";
static const char __pyx_k__29[] = ".";
static const char __pyx_k__36[] = ";";
static const char __pyx_k__39[] = "*";
static const char __pyx_k_acc[] = "acc";
static const char __pyx_k_b_f[] = "/b/f";
static const char __pyx_k_bus[] = "bus";
static const char __pyx_k_cmp[] = "cmp";
static const char __pyx_k_day[] = "day";
static const char __pyx_k_dec[] = "dec";
static const char __pyx_k_del[] = "__del__";
static const char __pyx_k_dir[] = "dir";
static const char __pyx_k_doc[] = "__doc__";
static const char __pyx_k_dry[] = "dry";
static const char __pyx_k_f_b[] = "/f/b";
static const char __pyx_k_get[] = "get";
static const char __pyx_k_key[] = "key";
static const char __pyx_k_klr[] = "klr";
static const char __pyx_k_kud[] = "kud";
static const char __pyx_k_log[] = ".log";
static const char __pyx_k_lvl[] = "lvl";
static const char __pyx_k_map[] = "map";
static const char __pyx_k_md5[] = "md5";
static const char __pyx_k_now[] = "now";
static const char __pyx_k_num[] = "num";
static const char __pyx_k_opt[] = "opt";
static const char __pyx_k_orn[] = "orn";
static const char __pyx_k_ovl[] = "ovl";
static const char __pyx_k_par[] = "par";
static const char __pyx_k_pos[] = "pos";
static const char __pyx_k_put[] = "put";
static const char __pyx_k_rcs[] = "rcs";
static const char __pyx_k_ref[] = "ref";
static const char __pyx_k_ret[] = "ret";
static const char __pyx_k_rtn[] = "rtn";
static const char __pyx_k_run[] = "run";
static const char __pyx_k_sdk[] = "sdk";
static const char __pyx_k_set[] = "set";
static const char __pyx_k_sum[] = "sum";
static const char __pyx_k_sys[] = "sys";
static const char __pyx_k_tmp[] = "/tmp/";
static const char __pyx_k_vel[] = "vel";
static const char __pyx_k_FAIL[] = "FAIL";
static const char __pyx_k_Fmax[] = "Fmax";
static const char __pyx_k_INFO[] = "INFO";
static const char __pyx_k_Lock[] = "Lock";
static const char __pyx_k_Mode[] = "Mode";
static const char __pyx_k_Vmax[] = "Vmax";
static const char __pyx_k__718[] = "?";
static const char __pyx_k_amax[] = "amax";
static const char __pyx_k_args[] = "args";
static const char __pyx_k_axis[] = "axis";
static const char __pyx_k_cmdT[] = "cmdT";
static const char __pyx_k_data[] = "data";
static const char __pyx_k_dict[] = "__dict__";
static const char __pyx_k_emit[] = "emit";
static const char __pyx_k_etcp[] = "etcp";
static const char __pyx_k_exit[] = "__exit__";
static const char __pyx_k_file[] = "file";
static const char __pyx_k_flag[] = "flag";
static const char __pyx_k_func[] = "func";
static const char __pyx_k_gain[] = "gain";
static const char __pyx_k_hour[] = "hour";
static const char __pyx_k_http[] = "http://";
static const char __pyx_k_info[] = "info";
static const char __pyx_k_init[] = "__init__";
static const char __pyx_k_jmax[] = "jmax";
static const char __pyx_k_join[] = "join";
static const char __pyx_k_link[] = "link";
static const char __pyx_k_lock[] = "lock";
static const char __pyx_k_main[] = "__main__";
static const char __pyx_k_mode[] = "mode";
static const char __pyx_k_name[] = "__name__";
static const char __pyx_k_open[] = "open";
static const char __pyx_k_pack[] = "_pack_";
static const char __pyx_k_path[] = "path";
static const char __pyx_k_port[] = "port";
static const char __pyx_k_read[] = "read";
static const char __pyx_k_recv[] = "recv";
static const char __pyx_k_repr[] = "repr";
static const char __pyx_k_retp[] = "retp";
static const char __pyx_k_rett[] = "rett";
static const char __pyx_k_self[] = "self";
static const char __pyx_k_send[] = "send";
static const char __pyx_k_sign[] = "sign";
static const char __pyx_k_size[] = "size";
static const char __pyx_k_spec[] = "__spec__";
static const char __pyx_k_t_ms[] = "t_ms";
static const char __pyx_k_test[] = "__test__";
static const char __pyx_k_time[] = "time";
static const char __pyx_k_tool[] = "tool";
static const char __pyx_k_type[] = "type";
static const char __pyx_k_user[] = "user";
static const char __pyx_k_vamx[] = "vamx";
static const char __pyx_k_wobj[] = "wobj";
static const char __pyx_k_work[] = "work";
static const char __pyx_k_year[] = "year";
static const char __pyx_k_20003[] = ":20003";
static const char __pyx_k_AINum[] = "AINum";
static const char __pyx_k_AONum[] = "AONum";
static const char __pyx_k_BGain[] = "BGain";
static const char __pyx_k_DEBUG[] = "DEBUG";
static const char __pyx_k_DINum[] = "DINum";
static const char __pyx_k_DONum[] = "DONum";
static const char __pyx_k_ERROR[] = "ERROR";
static const char __pyx_k_Event[] = "Event";
static const char __pyx_k_GetAI[] = "GetAI";
static const char __pyx_k_GetDI[] = "GetDI";
static const char __pyx_k_GetDO[] = "GetDO";
static const char __pyx_k_KGain[] = "KGain";
static const char __pyx_k_MoveC[] = "MoveC";
static const char __pyx_k_MoveJ[] = "MoveJ";
static const char __pyx_k_MoveL[] = "MoveL";
static const char __pyx_k_Queue[] = "Queue";
static const char __pyx_k_Robot[] = "Robot";
static const char __pyx_k_SDK_2[] = "SDK\350\257\273\345\217\226\346\234\272\345\231\250\344\272\272\345\256\236\346\227\266\346\225\260\346\215\256\345\244\261\350\264\245";
static const char __pyx_k_SetAO[] = "SetAO";
static const char __pyx_k_SetDO[] = "SetDO";
static const char __pyx_k_Y_m_d[] = "%Y%m%d";
static const char __pyx_k_acc_p[] = "acc_p";
static const char __pyx_k_acc_t[] = "acc_t";
static const char __pyx_k_alarm[] = "alarm";
static const char __pyx_k_angle[] = "angle";
static const char __pyx_k_bOpen[] = "bOpen";
static const char __pyx_k_blend[] = "blend";
static const char __pyx_k_block[] = "block";
static const char __pyx_k_c_int[] = "c_int";
static const char __pyx_k_chunk[] = "chunk";
static const char __pyx_k_close[] = "close";
static const char __pyx_k_coeff[] = "coeff";
static const char __pyx_k_coord[] = "coord";
static const char __pyx_k_data1[] = "data1";
static const char __pyx_k_data2[] = "data2";
static const char __pyx_k_debug[] = "debug";
static const char __pyx_k_delay[] = "delay";
static const char __pyx_k_enter[] = "__enter__";
static const char __pyx_k_error[] = "error";
static const char __pyx_k_etool[] = "etool";
static const char __pyx_k_flerr[] = "flerr";
static const char __pyx_k_flush[] = "flush";
static const char __pyx_k_force[] = "force";
static const char __pyx_k_idBus[] = "idBus";
static const char __pyx_k_inPos[] = "inPos";
static const char __pyx_k_index[] = "index";
static const char __pyx_k_items[] = "items";
static const char __pyx_k_joint[] = "joint";
static const char __pyx_k_level[] = "level";
static const char __pyx_k_lin_a[] = "lin_a";
static const char __pyx_k_lin_v[] = "lin_v";
static const char __pyx_k_max_t[] = "max_t";
static const char __pyx_k_mouth[] = "mouth";
static const char __pyx_k_nihao[] = "nihao";
static const char __pyx_k_param[] = "param";
static const char __pyx_k_power[] = "power";
static const char __pyx_k_print[] = "print";
static const char __pyx_k_queue[] = "queue";
static const char __pyx_k_radio[] = "radio";
static const char __pyx_k_range[] = "range";
static const char __pyx_k_ratio[] = "ratio";
static const char __pyx_k_ready[] = "ready";
static const char __pyx_k_robot[] = "robot";
static const char __pyx_k_sleep[] = "sleep";
static const char __pyx_k_sock1[] = "sock1";
static const char __pyx_k_speed[] = "speed";
static const char __pyx_k_split[] = "split";
static const char __pyx_k_sship[] = "sship";
static const char __pyx_k_start[] = "start";
static const char __pyx_k_state[] = "state";
static const char __pyx_k_super[] = "super";
static const char __pyx_k_utf_8[] = "utf-8";
static const char __pyx_k_value[] = "value";
static const char __pyx_k_vel_p[] = "vel_p";
static const char __pyx_k_vel_t[] = "vel_t";
static const char __pyx_k_wraps[] = "wraps";
static const char __pyx_k_write[] = "write";
static const char __pyx_k_ARCEnd[] = "ARCEnd";
static const char __pyx_k_Circle[] = "Circle";
static const char __pyx_k_ServoJ[] = "ServoJ";
static const char __pyx_k_Thread[] = "Thread";
static const char __pyx_k_WaitAI[] = "WaitAI";
static const char __pyx_k_WaitDI[] = "WaitDI";
static const char __pyx_k_WaitMs[] = "WaitMs";
static const char __pyx_k_action[] = "action";
static const char __pyx_k_append[] = "append";
static const char __pyx_k_arcNum[] = "arcNum";
static const char __pyx_k_axisID[] = "axisID";
static const char __pyx_k_axisId[] = "axisId";
static const char __pyx_k_blendR[] = "blendR";
static const char __pyx_k_blendT[] = "blendT";
static const char __pyx_k_buffer[] = "buffer";
static const char __pyx_k_c_byte[] = "c_byte";
static const char __pyx_k_client[] = "client";
static const char __pyx_k_config[] = "config";
static const char __pyx_k_ctypes[] = "ctypes";
static const char __pyx_k_daemon[] = "daemon";
static const char __pyx_k_decode[] = "decode";
static const char __pyx_k_device[] = "device";
static const char __pyx_k_disMax[] = "disMax";
static const char __pyx_k_enable[] = "enable";
static const char __pyx_k_encode[] = "encode";
static const char __pyx_k_endDis[] = "endDis";
static const char __pyx_k_endPos[] = "endPos";
static const char __pyx_k_error1[] = "error1";
static const char __pyx_k_exists[] = "exists";
static const char __pyx_k_fields[] = "_fields_";
static const char __pyx_k_format[] = "format";
static const char __pyx_k_getcwd[] = "getcwd";
static const char __pyx_k_import[] = "__import__";
static const char __pyx_k_ioType[] = "ioType";
static const char __pyx_k_is_set[] = "is_set";
static const char __pyx_k_kwargs[] = "kwargs";
static const char __pyx_k_length[] = "length";
static const char __pyx_k_levels[] = "levels";
static const char __pyx_k_linorn[] = "linorn";
static const char __pyx_k_logger[] = "logger";
static const char __pyx_k_maxAcc[] = "maxAcc";
static const char __pyx_k_method[] = "method";
static const char __pyx_k_minute[] = "minute";
static const char __pyx_k_module[] = "__module__";
static const char __pyx_k_name_2[] = "name";
static const char __pyx_k_nlimit[] = "nlimit";
static const char __pyx_k_pLimit[] = "pLimit";
static const char __pyx_k_period[] = "period";
static const char __pyx_k_pointX[] = "pointX";
static const char __pyx_k_pointZ[] = "pointZ";
static const char __pyx_k_pointo[] = "pointo";
static const char __pyx_k_record[] = "record";
static const char __pyx_k_refPos[] = "refPos";
static const char __pyx_k_regNum[] = "regNum";
static const char __pyx_k_remove[] = "remove";
static const char __pyx_k_result[] = "result";
static const char __pyx_k_rotNum[] = "rotNum";
static const char __pyx_k_rotVel[] = "rotVel";
static const char __pyx_k_rotorn[] = "rotorn";
static const char __pyx_k_search[] = "search";
static const char __pyx_k_second[] = "second";
static const char __pyx_k_select[] = "select";
static const char __pyx_k_sizeof[] = "sizeof";
static const char __pyx_k_smooth[] = "smooth";
static const char __pyx_k_socket[] = "socket";
static const char __pyx_k_status[] = "status";
static const char __pyx_k_stream[] = "stream";
static const char __pyx_k_struct[] = "struct";
static const char __pyx_k_target[] = "target";
static const char __pyx_k_thread[] = "thread";
static const char __pyx_k_toolID[] = "toolID";
static const char __pyx_k_tool_p[] = "tool_p";
static const char __pyx_k_tool_t[] = "tool_t";
static const char __pyx_k_torque[] = "torque";
static const char __pyx_k_update[] = "update";
static const char __pyx_k_user_p[] = "user_p";
static const char __pyx_k_user_t[] = "user_t";
static const char __pyx_k_verify[] = "verify";
static const char __pyx_k_weight[] = "weight";
static const char __pyx_k_weldId[] = "weldId";
static const char __pyx_k_xmlrpc[] = "xmlrpc";
static const char __pyx_k_yangle[] = "yangle";
static const char __pyx_k_zangle[] = "zangle";
static const char __pyx_k_AF_INET[] = "AF_INET";
static const char __pyx_k_AOIndex[] = "AOIndex";
static const char __pyx_k_Calling[] = "Calling ";
static const char __pyx_k_LoadTPD[] = "LoadTPD";
static const char __pyx_k_MoveTPD[] = "MoveTPD";
static const char __pyx_k_SUCCESS[] = "SUCCESS";
static const char __pyx_k_ServoJT[] = "ServoJT";
static const char __pyx_k_StopJOG[] = "StopJOG";
static const char __pyx_k_WARNING[] = "WARNING";
static const char __pyx_k_abspath[] = "abspath";
static const char __pyx_k_actFlag[] = "actFlag";
static const char __pyx_k_attempt[] = "attempt";
static const char __pyx_k_axisAcc[] = "axisAcc";
static const char __pyx_k_axisMax[] = "axisMax";
static const char __pyx_k_axisMin[] = "axisMin";
static const char __pyx_k_axisPos[] = "axisPos";
static const char __pyx_k_axisVel[] = "axisVel";
static const char __pyx_k_c_float[] = "c_float";
static const char __pyx_k_c_uint8[] = "c_uint8";
static const char __pyx_k_channel[] = "channel";
static const char __pyx_k_company[] = "company";
static const char __pyx_k_connect[] = "connect";
static const char __pyx_k_coordId[] = "coordId";
static const char __pyx_k_current[] = "current";
static const char __pyx_k_dataBit[] = "dataBit";
static const char __pyx_k_devAddr[] = "devAddr";
static const char __pyx_k_dirname[] = "dirname";
static const char __pyx_k_disable[] = "disable";
static const char __pyx_k_endJPos[] = "endJPos";
static const char __pyx_k_endTime[] = "endTime";
static const char __pyx_k_error_2[] = "_error";
static const char __pyx_k_fairino[] = "fairino_";
static const char __pyx_k_filterT[] = "filterT";
static const char __pyx_k_getsize[] = "getsize";
static const char __pyx_k_hashlib[] = "hashlib";
static const char __pyx_k_install[] = "install";
static const char __pyx_k_isUpLow[] = "isUpLow";
static const char __pyx_k_isWeave[] = "isWeave";
static const char __pyx_k_is_init[] = "is_init";
static const char __pyx_k_loadNum[] = "loadNum";
static const char __pyx_k_logging[] = "logging";
static const char __pyx_k_lua_num[] = "lua_num";
static const char __pyx_k_max_ang[] = "max_ang";
static const char __pyx_k_max_dis[] = "max_dis";
static const char __pyx_k_max_vel[] = "max_vel";
static const char __pyx_k_maxsize[] = "maxsize";
static const char __pyx_k_maxtime[] = "maxtime";
static const char __pyx_k_message[] = "message";
static const char __pyx_k_n_limit[] = "n_limit";
static const char __pyx_k_p_limit[] = "p_limit";
static const char __pyx_k_prepare[] = "__prepare__";
static const char __pyx_k_recvbuf[] = "recvbuf";
static const char __pyx_k_safeVel[] = "safeVel";
static const char __pyx_k_sendall[] = "sendall";
static const char __pyx_k_servoId[] = "servoId";
static const char __pyx_k_slaveID[] = "slaveID";
static const char __pyx_k_sshname[] = "sshname";
static const char __pyx_k_stopBit[] = "stopBit";
static const char __pyx_k_t_coord[] = "t_coord";
static const char __pyx_k_timeout[] = "timeout";
static const char __pyx_k_tmpTool[] = "tmpTool";
static const char __pyx_k_tmpUser[] = "tmpUser";
static const char __pyx_k_tmp_len[] = "tmp_len";
static const char __pyx_k_toolNum[] = "toolNum";
static const char __pyx_k_tool_id[] = "tool_id";
static const char __pyx_k_varName[] = "varName";
static const char __pyx_k_varname[] = "varname";
static const char __pyx_k_voltage[] = "voltage";
static const char __pyx_k_warning[] = "warning";
static const char __pyx_k_weldNum[] = "weldNum";
static const char __pyx_k_wrapper[] = "wrapper";
static const char __pyx_k_zlength[] = "zlength";
static const char __pyx_k_ARCStart[] = "ARCStart";
static const char __pyx_k_CloseRPC[] = "CloseRPC";
static const char __pyx_k_FT_Guard[] = "FT_Guard";
static const char __pyx_k_GetAuxAI[] = "GetAuxAI";
static const char __pyx_k_GetAuxDI[] = "GetAuxDI";
static const char __pyx_k_ILC_sign[] = "ILC_sign";
static const char __pyx_k_IOEnable[] = "IOEnable";
static const char __pyx_k_MoveCart[] = "MoveCart";
static const char __pyx_k_RPC_Mode[] = "RPC.Mode";
static const char __pyx_k_Robot_py[] = "Robot.py";
static const char __pyx_k_SetAuxAO[] = "SetAuxAO";
static const char __pyx_k_SetAuxDO[] = "SetAuxDO";
static const char __pyx_k_SetSpeed[] = "SetSpeed";
static const char __pyx_k_StartJOG[] = "StartJOG";
static const char __pyx_k_StopMove[] = "StopMove";
static const char __pyx_k_WeaveEnd[] = "WeaveEnd";
static const char __pyx_k_adj_sign[] = "adj_sign";
static const char __pyx_k_angleMax[] = "angleMax";
static const char __pyx_k_args_str[] = "args_str";
static const char __pyx_k_auxState[] = "auxState";
static const char __pyx_k_axisDHa1[] = "axisDHa1";
static const char __pyx_k_axisDHa2[] = "axisDHa2";
static const char __pyx_k_axisDHa3[] = "axisDHa3";
static const char __pyx_k_axisDHa4[] = "axisDHa4";
static const char __pyx_k_axisDHd1[] = "axisDHd1";
static const char __pyx_k_axisDHd2[] = "axisDHd2";
static const char __pyx_k_axisDHd3[] = "axisDHd3";
static const char __pyx_k_axisDHd4[] = "axisDHd4";
static const char __pyx_k_axisLead[] = "axisLead";
static const char __pyx_k_axisType[] = "axisType";
static const char __pyx_k_basename[] = "basename";
static const char __pyx_k_baudRate[] = "baudRate";
static const char __pyx_k_c_double[] = "c_double";
static const char __pyx_k_c_uint16[] = "c_uint16";
static const char __pyx_k_c_ushort[] = "c_ushort";
static const char __pyx_k_checksum[] = "checksum";
static const char __pyx_k_data_len[] = "data_len";
static const char __pyx_k_datetime[] = "datetime";
static const char __pyx_k_delayDis[] = "delayDis";
static const char __pyx_k_desc_pos[] = "desc_pos";
static const char __pyx_k_distance[] = "distance";
static const char __pyx_k_encoding[] = "encoding";
static const char __pyx_k_end_data[] = "end_data";
static const char __pyx_k_errorLim[] = "errorLim";
static const char __pyx_k_fileName[] = "fileName";
static const char __pyx_k_filePath[] = "filePath";
static const char __pyx_k_fileType[] = "fileType";
static const char __pyx_k_file_num[] = "file_num";
static const char __pyx_k_filename[] = "filename";
static const char __pyx_k_flag_tmp[] = "flag_tmp";
static const char __pyx_k_idDevice[] = "idDevice";
static const char __pyx_k_interval[] = "interval";
static const char __pyx_k_is_alive[] = "is_alive";
static const char __pyx_k_lastFlag[] = "lastFlag";
static const char __pyx_k_latchVel[] = "latchVel";
static const char __pyx_k_log_call[] = "log_call";
static const char __pyx_k_log_info[] = "log_info";
static const char __pyx_k_lua_name[] = "lua_name";
static const char __pyx_k_maxBytes[] = "maxBytes";
static const char __pyx_k_max_t_ms[] = "max_t_ms";
static const char __pyx_k_moveType[] = "moveType";
static const char __pyx_k_pointNum[] = "pointNum";
static const char __pyx_k_pos_gain[] = "pos_gain";
static const char __pyx_k_protocol[] = "protocol";
static const char __pyx_k_qualname[] = "__qualname__";
static const char __pyx_k_recv_md5[] = "recv_md5";
static const char __pyx_k_recvbyte[] = "recvbyte";
static const char __pyx_k_refFrame[] = "refFrame";
static const char __pyx_k_regHAddr[] = "regHAddr";
static const char __pyx_k_regLAddr[] = "regLAddr";
static const char __pyx_k_response[] = "response";
static const char __pyx_k_returned[] = " returned: ";
static const char __pyx_k_safeTime[] = "safeTime";
static const char __pyx_k_saveFlag[] = "saveFlag";
static const char __pyx_k_savePath[] = "savePath";
static const char __pyx_k_seamType[] = "seamType";
static const char __pyx_k_send_md5[] = "send_md5";
static const char __pyx_k_servoPos[] = "servoPos";
static const char __pyx_k_servoVel[] = "servoVel";
static const char __pyx_k_setLevel[] = "setLevel";
static const char __pyx_k_set_name[] = "__set_name__";
static const char __pyx_k_startDis[] = "startDis";
static const char __pyx_k_startPos[] = "startPos";
static const char __pyx_k_strategy[] = "strategy";
static const char __pyx_k_strftime[] = "strftime";
static const char __pyx_k_sub_code[] = "sub_code";
static const char __pyx_k_sumMaxLr[] = "sumMaxLr";
static const char __pyx_k_sumMaxUd[] = "sumMaxUd";
static const char __pyx_k_tStartLr[] = "tStartLr";
static const char __pyx_k_tStartUd[] = "tStartUd";
static const char __pyx_k_tmpJoint[] = "tmpJoint";
static const char __pyx_k_velocity[] = "velocity";
static const char __pyx_k_weaveNum[] = "weaveNum";
static const char __pyx_k_wireFeed[] = "wireFeed";
static const char __pyx_k_ERR_OTHER[] = "ERR_OTHER";
static const char __pyx_k_FT_SetRCS[] = "FT_SetRCS";
static const char __pyx_k_Formatter[] = "Formatter";
static const char __pyx_k_GetToolAI[] = "GetToolAI";
static const char __pyx_k_GetToolDI[] = "GetToolDI";
static const char __pyx_k_GetToolDO[] = "GetToolDO";
static const char __pyx_k_LuaDelete[] = "LuaDelete";
static const char __pyx_k_LuaUpload[] = "LuaUpload";
static const char __pyx_k_NewSpiral[] = "NewSpiral";
static const char __pyx_k_RPCLogger[] = "RPCLogger";
static const char __pyx_k_RPC_GetAI[] = "RPC.GetAI";
static const char __pyx_k_RPC_GetDI[] = "RPC.GetDI";
static const char __pyx_k_RPC_GetDO[] = "RPC.GetDO";
static const char __pyx_k_RPC_MoveC[] = "RPC.MoveC";
static const char __pyx_k_RPC_MoveJ[] = "RPC.MoveJ";
static const char __pyx_k_RPC_MoveL[] = "RPC.MoveL";
static const char __pyx_k_RPC_SetAO[] = "RPC.SetAO";
static const char __pyx_k_RPC_SetDO[] = "RPC.SetDO";
static const char __pyx_k_RPC___del[] = "RPC.__del__";
static const char __pyx_k_SDK_state[] = "SDK_state";
static const char __pyx_k_ServoCart[] = "ServoCart";
static const char __pyx_k_SetToolAO[] = "SetToolAO";
static const char __pyx_k_SetToolDO[] = "SetToolDO";
static const char __pyx_k_SplineEnd[] = "SplineEnd";
static const char __pyx_k_SplinePTP[] = "SplinePTP";
static const char __pyx_k_Structure[] = "Structure";
static const char __pyx_k_WaitAuxAI[] = "WaitAuxAI";
static const char __pyx_k_WaitAuxDI[] = "WaitAuxDI";
static const char __pyx_k_actual_qd[] = "actual_qd";
static const char __pyx_k_angAccmax[] = "angAccmax";
static const char __pyx_k_angVelRot[] = "angVelRot";
static const char __pyx_k_axisModel[] = "axisModel";
static const char __pyx_k_calibFlag[] = "calibFlag";
static const char __pyx_k_check_md5[] = "check_md5";
static const char __pyx_k_check_sum[] = "check_sum";
static const char __pyx_k_checkdata[] = "checkdata";
static const char __pyx_k_delayMode[] = "delayMode";
static const char __pyx_k_delayTime[] = "delayTime";
static const char __pyx_k_delaytime[] = "delaytime";
static const char __pyx_k_di_choose[] = "di_choose";
static const char __pyx_k_direction[] = "direction";
static const char __pyx_k_directory[] = "directory";
static const char __pyx_k_do_choose[] = "do_choose";
static const char __pyx_k_endOffPos[] = "endOffPos";
static const char __pyx_k_errorCode[] = "errorCode";
static const char __pyx_k_error_str[] = "error_str";
static const char __pyx_k_file_info[] = "file_info";
static const char __pyx_k_file_name[] = "file_name";
static const char __pyx_k_file_path[] = "file_path";
static const char __pyx_k_formatter[] = "formatter";
static const char __pyx_k_frame_cnt[] = "frame_cnt";
static const char __pyx_k_functools[] = "functools";
static const char __pyx_k_getLogger[] = "getLogger";
static const char __pyx_k_head_data[] = "head_data";
static const char __pyx_k_hexdigest[] = "hexdigest";
static const char __pyx_k_idCompany[] = "idCompany";
static const char __pyx_k_isNoBlock[] = "isNoBlock";
static const char __pyx_k_is_conect[] = "is_conect";
static const char __pyx_k_isenabled[] = "isenabled";
static const char __pyx_k_joint_pos[] = "joint_pos";
static const char __pyx_k_lamdeDain[] = "lamdeDain";
static const char __pyx_k_log_debug[] = "log_debug";
static const char __pyx_k_log_entry[] = "log_entry";
static const char __pyx_k_log_error[] = "log_error";
static const char __pyx_k_log_level[] = "log_level";
static const char __pyx_k_main_code[] = "main_code";
static const char __pyx_k_maxAccDeg[] = "maxAccDeg";
static const char __pyx_k_maxAccLin[] = "maxAccLin";
static const char __pyx_k_metaclass[] = "__metaclass__";
static const char __pyx_k_noWeldNum[] = "noWeldNum";
static const char __pyx_k_open_flag[] = "open_flag";
static const char __pyx_k_period_ms[] = "period_ms";
static const char __pyx_k_point_num[] = "point_num";
static const char __pyx_k_precision[] = "precision";
static const char __pyx_k_reconnect[] = "reconnect";
static const char __pyx_k_recv_into[] = "recv_into";
static const char __pyx_k_recv_size[] = "recv_size";
static const char __pyx_k_resetFlag[] = "resetFlag";
static const char __pyx_k_rotTorque[] = "rotTorque";
static const char __pyx_k_searchDis[] = "searchDis";
static const char __pyx_k_searchVel[] = "searchVel";
static const char __pyx_k_startJPos[] = "startJPos";
static const char __pyx_k_startTime[] = "startTime";
static const char __pyx_k_state_pkg[] = "state_pkg";
static const char __pyx_k_stepMaxLr[] = "stepMaxLr";
static const char __pyx_k_stepMaxUd[] = "stepMaxUd";
static const char __pyx_k_threading[] = "threading";
static const char __pyx_k_tmp_error[] = "tmp_error";
static const char __pyx_k_weaveType[] = "weaveType";
static const char __pyx_k_ActGripper[] = "ActGripper";
static const char __pyx_k_FT_Control[] = "FT_Control";
static const char __pyx_k_FT_SetZero[] = "FT_SetZero";
static const char __pyx_k_FileDelete[] = "FileDelete";
static const char __pyx_k_FileUpLoad[] = "__FileUpLoad";
static const char __pyx_k_FileUpload[] = "FileUpload";
static const char __pyx_k_GetLuaList[] = "GetLuaList";
static const char __pyx_k_GetRobotSN[] = "GetRobotSN";
static const char __pyx_k_ImmStopJOG[] = "ImmStopJOG";
static const char __pyx_k_LoggerInit[] = "LoggerInit";
static const char __pyx_k_MoveAOStop[] = "MoveAOStop";
static const char __pyx_k_ProgramRun[] = "ProgramRun";
static const char __pyx_k_RPC_ARCEnd[] = "RPC.ARCEnd";
static const char __pyx_k_RPC_Circle[] = "RPC.Circle";
static const char __pyx_k_RPC_ServoJ[] = "RPC.ServoJ";
static const char __pyx_k_RPC_WaitAI[] = "RPC.WaitAI";
static const char __pyx_k_RPC_WaitDI[] = "RPC.WaitDI";
static const char __pyx_k_RPC_WaitMs[] = "RPC.WaitMs";
static const char __pyx_k_RPC___init[] = "RPC.__init__";
static const char __pyx_k_RobotError[] = "RobotError";
static const char __pyx_k_SDK_V2_1_1[] = "SDK:V2.1.1";
static const char __pyx_k_ServoJTEnd[] = "ServoJTEnd";
static const char __pyx_k_StopMotion[] = "StopMotion";
static const char __pyx_k_ValueError[] = "ValueError";
static const char __pyx_k_WaitToolAI[] = "WaitToolAI";
static const char __pyx_k_WaitToolDI[] = "WaitToolDI";
static const char __pyx_k_WeaveStart[] = "WeaveStart";
static const char __pyx_k_actual_qdd[] = "actual_qdd";
static const char __pyx_k_addHandler[] = "addHandler";
static const char __pyx_k_airControl[] = "airControl";
static const char __pyx_k_axisConfig[] = "axisConfig";
static const char __pyx_k_axisOffect[] = "axisOffect";
static const char __pyx_k_axisSelect[] = "axisSelect";
static const char __pyx_k_currentMax[] = "currentMax";
static const char __pyx_k_currentMin[] = "currentMin";
static const char __pyx_k_desc_pos_p[] = "desc_pos_p";
static const char __pyx_k_desc_pos_t[] = "desc_pos_t";
static const char __pyx_k_endCurrent[] = "endCurrent";
static const char __pyx_k_endDesePos[] = "endDesePos";
static const char __pyx_k_endVoltage[] = "endVoltage";
static const char __pyx_k_errorAlarm[] = "errorAlarm";
static const char __pyx_k_exaxis_pos[] = "exaxis_pos";
static const char __pyx_k_extAIState[] = "extAIState";
static const char __pyx_k_extAOState[] = "extAOState";
static const char __pyx_k_extDIState[] = "extDIState";
static const char __pyx_k_extDOState[] = "extDOState";
static const char __pyx_k_file_bytes[] = "file_bytes";
static const char __pyx_k_filterTime[] = "filterTime";
static const char __pyx_k_followType[] = "followType";
static const char __pyx_k_frame_head[] = "frame_head";
static const char __pyx_k_idSoftware[] = "idSoftware";
static const char __pyx_k_ip_address[] = "ip_address";
static const char __pyx_k_jt_cur_pos[] = "jt_cur_pos";
static const char __pyx_k_jt_cur_tor[] = "jt_cur_tor";
static const char __pyx_k_kwargs_str[] = "kwargs_str";
static const char __pyx_k_lossPkgNum[] = "lossPkgNum";
static const char __pyx_k_maxJerkDeg[] = "maxJerkDeg";
static const char __pyx_k_maxJerkLin[] = "maxJerkLin";
static const char __pyx_k_offectFlag[] = "offectFlag";
static const char __pyx_k_offsetType[] = "offsetType";
static const char __pyx_k_offset_pos[] = "offset_pos";
static const char __pyx_k_result_buf[] = "result_buf";
static const char __pyx_k_robot_mode[] = "robot_mode";
static const char __pyx_k_sensor_num[] = "sensor_num";
static const char __pyx_k_servoModel[] = "servoModel";
static const char __pyx_k_servoState[] = "servoState";
static const char __pyx_k_settimeout[] = "settimeout";
static const char __pyx_k_stop_event[] = "stop_event";
static const char __pyx_k_terminator[] = "terminator";
static const char __pyx_k_tl_cur_pos[] = "tl_cur_pos";
static const char __pyx_k_total_size[] = "total_size";
static const char __pyx_k_varNameRef[] = "varNameRef";
static const char __pyx_k_varNameRes[] = "varNameRes";
static const char __pyx_k_weaveRange[] = "weaveRange";
static const char __pyx_k_weldIOType[] = "weldIOType";
static const char __pyx_k_weldLength[] = "weldLength";
static const char __pyx_k_BUFFER_SIZE[] = "BUFFER_SIZE";
static const char __pyx_k_ComputeTcp4[] = "ComputeTcp4";
static const char __pyx_k_ComputeTool[] = "ComputeTool";
static const char __pyx_k_ERR_SUCCESS[] = "ERR_SUCCESS";
static const char __pyx_k_ExtAxisMove[] = "ExtAxisMove";
static const char __pyx_k_FT_Activate[] = "FT_Activate";
static const char __pyx_k_LuaDownLoad[] = "LuaDownLoad";
static const char __pyx_k_MoveAOStart[] = "MoveAOStart";
static const char __pyx_k_MoveGripper[] = "MoveGripper";
static const char __pyx_k_PauseMotion[] = "PauseMotion";
static const char __pyx_k_ProgramLoad[] = "ProgramLoad";
static const char __pyx_k_ProgramStop[] = "ProgramStop";
static const char __pyx_k_RPC_LoadTPD[] = "RPC.LoadTPD";
static const char __pyx_k_RPC_MoveTPD[] = "RPC.MoveTPD";
static const char __pyx_k_RPC_ServoJT[] = "RPC.ServoJT";
static const char __pyx_k_RPC_StopJOG[] = "RPC.StopJOG";
static const char __pyx_k_RobotEnable[] = "RobotEnable";
static const char __pyx_k_SOCK_STREAM[] = "SOCK_STREAM";
static const char __pyx_k_ServerProxy[] = "ServerProxy";
static const char __pyx_k_SetTPDParam[] = "SetTPDParam";
static const char __pyx_k_SetTPDStart[] = "SetTPDStart";
static const char __pyx_k_SetToolList[] = "SetToolList";
static const char __pyx_k_SetWObjList[] = "SetWObjList";
static const char __pyx_k_SplineStart[] = "SplineStart";
static const char __pyx_k_ToolTrsfEnd[] = "ToolTrsfEnd";
static const char __pyx_k_TractorStop[] = "TractorStop";
static const char __pyx_k_WaitMultiDI[] = "WaitMultiDI";
static const char __pyx_k_WeaveEndSim[] = "WeaveEndSim";
static const char __pyx_k_autoBackDis[] = "autoBackDis";
static const char __pyx_k_autoBackVel[] = "autoBackVel";
static const char __pyx_k_averageTime[] = "averageTime";
static const char __pyx_k_axisCompany[] = "axisCompany";
static const char __pyx_k_axisEncType[] = "axisEncType";
static const char __pyx_k_backupCount[] = "backupCount";
static const char __pyx_k_checkEnable[] = "checkEnable";
static const char __pyx_k_file_buffer[] = "file_buffer";
static const char __pyx_k_file_writer[] = "file_writer";
static const char __pyx_k_filter_Sign[] = "filter_Sign";
static const char __pyx_k_gripper_tmp[] = "gripper_tmp";
static const char __pyx_k_installType[] = "installType";
static const char __pyx_k_isLeftRight[] = "isLeftRight";
static const char __pyx_k_joint_pos_p[] = "joint_pos_p";
static const char __pyx_k_joint_pos_t[] = "joint_pos_t";
static const char __pyx_k_log_handler[] = "log_handler";
static const char __pyx_k_log_warning[] = "log_warning";
static const char __pyx_k_lossPkgTime[] = "lossPkgTime";
static const char __pyx_k_maxDistance[] = "maxDistance";
static const char __pyx_k_maxTCPSpeed[] = "maxTCPSpeed";
static const char __pyx_k_max_retries[] = "max_retries";
static const char __pyx_k_mdbsOffLine[] = "mdbsOffLine";
static const char __pyx_k_mdbsTimeout[] = "mdbsTimeout";
static const char __pyx_k_millisecond[] = "millisecond";
static const char __pyx_k_minElbowPos[] = "minElbowPos";
static const char __pyx_k_minWristPos[] = "minWristPos";
static const char __pyx_k_motion_done[] = "motion_done";
static const char __pyx_k_mro_entries[] = "__mro_entries__";
static const char __pyx_k_offset_flag[] = "offset_flag";
static const char __pyx_k_protectMode[] = "protectMode";
static const char __pyx_k_reWeldDINum[] = "reWeldDINum";
static const char __pyx_k_recordCount[] = "recordCount";
static const char __pyx_k_robot_state[] = "robot_state";
static const char __pyx_k_servoTorque[] = "servoTorque";
static const char __pyx_k_smooth_flag[] = "smooth_flag";
static const char __pyx_k_softversion[] = "softversion";
static const char __pyx_k_start_joint[] = "start_joint";
static const char __pyx_k_tmpWeldDesc[] = "tmpWeldDesc";
static const char __pyx_k_tmp_recvbuf[] = "tmp_recvbuf";
static const char __pyx_k_weldCurrent[] = "weldCurrent";
static const char __pyx_k_weldTimeout[] = "weldTimeout";
static const char __pyx_k_weldVoltage[] = "weldVoltage";
static const char __pyx_k_zeroZoneCmp[] = "zeroZoneCmp";
static const char __pyx_k_192_168_58_2[] = "192.168.58.2";
static const char __pyx_k_AccSmoothEnd[] = "AccSmoothEnd";
static const char __pyx_k_ComputeExTCF[] = "ComputeExTCF";
static const char __pyx_k_ERROR_RECONN[] = "ERROR_RECONN";
static const char __pyx_k_ExtAxisMoveJ[] = "ExtAxisMoveJ";
static const char __pyx_k_FT_GetConfig[] = "FT_GetConfig";
static const char __pyx_k_FT_SetConfig[] = "FT_SetConfig";
static const char __pyx_k_FileDelete_2[] = "__FileDelete";
static const char __pyx_k_FileDownLoad[] = "__FileDownLoad";
static const char __pyx_k_FileDownload[] = "FileDownload";
static const char __pyx_k_GetSSHKeygen[] = "GetSSHKeygen";
static const char __pyx_k_GetTCPOffset[] = "GetTCPOffset";
static const char __pyx_k_NewSplineEnd[] = "NewSplineEnd";
static const char __pyx_k_ProgramPause[] = "ProgramPause";
static const char __pyx_k_RPC_ARCStart[] = "RPC.ARCStart";
static const char __pyx_k_RPC_CloseRPC[] = "RPC.CloseRPC";
static const char __pyx_k_RPC_FT_Guard[] = "RPC.FT_Guard";
static const char __pyx_k_RPC_GetAuxAI[] = "RPC.GetAuxAI";
static const char __pyx_k_RPC_GetAuxDI[] = "RPC.GetAuxDI";
static const char __pyx_k_RPC_MoveCart[] = "RPC.MoveCart";
static const char __pyx_k_RPC_SetAuxAO[] = "RPC.SetAuxAO";
static const char __pyx_k_RPC_SetAuxDO[] = "RPC.SetAuxDO";
static const char __pyx_k_RPC_SetSpeed[] = "RPC.SetSpeed";
static const char __pyx_k_RPC_StartJOG[] = "RPC.StartJOG";
static const char __pyx_k_RPC_StopMove[] = "RPC.StopMove";
static const char __pyx_k_RPC_WeaveEnd[] = "RPC.WeaveEnd";
static const char __pyx_k_RPC_log_call[] = "RPC.log_call";
static const char __pyx_k_RPC_log_info[] = "RPC.log_info";
static const char __pyx_k_ResumeMotion[] = "ResumeMotion";
static const char __pyx_k_Robot_V3_8_1[] = "Robot:V3.8.1";
static const char __pyx_k_ServoJTStart[] = "ServoJTStart";
static const char __pyx_k_ServoMoveEnd[] = "ServoMoveEnd";
static const char __pyx_k_SetAspirated[] = "SetAspirated";
static const char __pyx_k_SetLoadCoord[] = "SetLoadCoord";
static const char __pyx_k_SetOaccScale[] = "SetOaccScale";
static const char __pyx_k_SetSSHScpCmd[] = "SetSSHScpCmd";
static const char __pyx_k_SetTPDDelete[] = "SetTPDDelete";
static const char __pyx_k_SetToolCoord[] = "SetToolCoord";
static const char __pyx_k_SetToolPoint[] = "SetToolPoint";
static const char __pyx_k_SetWObjCoord[] = "SetWObjCoord";
static const char __pyx_k_TractorMoveC[] = "TractorMoveC";
static const char __pyx_k_TractorMoveL[] = "TractorMoveL";
static const char __pyx_k_WeaveSetPara[] = "WeaveSetPara";
static const char __pyx_k_asaptiveFlag[] = "asaptiveFlag";
static const char __pyx_k_autoBackFlag[] = "autoBackFlag";
static const char __pyx_k_axisCoordNum[] = "axisCoordNum";
static const char __pyx_k_call_message[] = "call_message";
static const char __pyx_k_exaxis_pos_p[] = "exaxis_pos_p";
static const char __pyx_k_exaxis_pos_t[] = "exaxis_pos_t";
static const char __pyx_k_force_torque[] = "force_torque";
static const char __pyx_k_homingStatus[] = "homingStatus";
static const char __pyx_k_initializing[] = "_initializing";
static const char __pyx_k_is_coroutine[] = "_is_coroutine";
static const char __pyx_k_joint_torque[] = "joint_torque";
static const char __pyx_k_maxAOPercent[] = "maxAOPercent";
static const char __pyx_k_mc_queue_len[] = "mc_queue_len";
static const char __pyx_k_noWeldLength[] = "noWeldLength";
static const char __pyx_k_offset_pos_p[] = "offset_pos_p";
static const char __pyx_k_offset_pos_t[] = "offset_pos_t";
static const char __pyx_k_output_model[] = "output_model";
static const char __pyx_k_posSensorNum[] = "posSensorNum";
static const char __pyx_k_program_name[] = "program_name";
static const char __pyx_k_rblog_tar_gz[] = "rblog.tar.gz";
static const char __pyx_k_reconnectNum[] = "reconnectNum";
static const char __pyx_k_safeDistance[] = "safeDistance";
static const char __pyx_k_safetyMargin[] = "safetyMargin";
static const char __pyx_k_saveFilePath[] = "saveFilePath";
static const char __pyx_k_send_message[] = "send_message";
static const char __pyx_k_servoCompany[] = "servoCompany";
static const char __pyx_k_servoErrCode[] = "servoErrCode";
static const char __pyx_k_setFormatter[] = "setFormatter";
static const char __pyx_k_speedPercent[] = "speedPercent";
static const char __pyx_k_startCurrent[] = "startCurrent";
static const char __pyx_k_startDesePos[] = "startDesePos";
static const char __pyx_k_startVoltage[] = "startVoltage";
static const char __pyx_k_timeoutTimes[] = "timeoutTimes";
static const char __pyx_k_total_buffer[] = "total_buffer";
static const char __pyx_k_upgradeState[] = "upgradeState";
static const char __pyx_k_usr_file_url[] = "usr_file_url";
static const char __pyx_k_weldArcState[] = "weldArcState";
static const char __pyx_k_AxleLuaUpload[] = "AxleLuaUpload";
static const char __pyx_k_ERR_FILE_NAME[] = "ERR_FILE_NAME";
static const char __pyx_k_ERR_RPC_ERROR[] = "ERR_RPC_ERROR";
static const char __pyx_k_EmergencyStop[] = "EmergencyStop";
static const char __pyx_k_GetForwardKin[] = "GetForwardKin";
static const char __pyx_k_GetInverseKin[] = "GetInverseKin";
static const char __pyx_k_GetSDKVersion[] = "GetSDKVersion";
static const char __pyx_k_GetSafetyCode[] = "GetSafetyCode";
static const char __pyx_k_GetWObjOffset[] = "GetWObjOffset";
static const char __pyx_k_IsInDragTeach[] = "IsInDragTeach";
static const char __pyx_k_ProgramResume[] = "ProgramResume";
static const char __pyx_k_RPC_FT_SetRCS[] = "RPC.FT_SetRCS";
static const char __pyx_k_RPC_GetToolAI[] = "RPC.GetToolAI";
static const char __pyx_k_RPC_GetToolDI[] = "RPC.GetToolDI";
static const char __pyx_k_RPC_GetToolDO[] = "RPC.GetToolDO";
static const char __pyx_k_RPC_LuaDelete[] = "RPC.LuaDelete";
static const char __pyx_k_RPC_LuaUpload[] = "RPC.LuaUpload";
static const char __pyx_k_RPC_NewSpiral[] = "RPC.NewSpiral";
static const char __pyx_k_RPC_ServoCart[] = "RPC.ServoCart";
static const char __pyx_k_RPC_SetToolAO[] = "RPC.SetToolAO";
static const char __pyx_k_RPC_SetToolDO[] = "RPC.SetToolDO";
static const char __pyx_k_RPC_SplineEnd[] = "RPC.SplineEnd";
static const char __pyx_k_RPC_SplinePTP[] = "RPC.SplinePTP";
static const char __pyx_k_RPC_WaitAuxAI[] = "RPC.WaitAuxAI";
static const char __pyx_k_RPC_WaitAuxDI[] = "RPC.WaitAuxDI";
static const char __pyx_k_RPC_log_debug[] = "RPC.log_debug";
static const char __pyx_k_RPC_log_error[] = "RPC.log_error";
static const char __pyx_k_RPC_reconnect[] = "RPC.reconnect";
static const char __pyx_k_RbLogDownload[] = "RbLogDownload";
static const char __pyx_k_ResetAllError[] = "ResetAllError";
static const char __pyx_k_RobotStatePkg[] = "RobotStatePkg";
static const char __pyx_k_SetExTCPPoint[] = "SetExTCPPoint";
static const char __pyx_k_SetExToolList[] = "SetExToolList";
static const char __pyx_k_SetLoadWeight[] = "SetLoadWeight";
static const char __pyx_k_SetPowerLimit[] = "SetPowerLimit";
static const char __pyx_k_SetWebTPDStop[] = "SetWebTPDStop";
static const char __pyx_k_ToolTrsfStart[] = "ToolTrsfStart";
static const char __pyx_k_TractorEnable[] = "TractorEnable";
static const char __pyx_k_TractorHoming[] = "TractorHoming";
static const char __pyx_k_WeaveStartSim[] = "WeaveStartSim";
static const char __pyx_k_WireSearchEnd[] = "WireSearchEnd";
static const char __pyx_k_axisDirection[] = "axisDirection";
static const char __pyx_k_breakOffState[] = "breakOffState";
static const char __pyx_k_class_getitem[] = "__class_getitem__";
static const char __pyx_k_dragMaxTcpVel[] = "dragMaxTcpVel";
static const char __pyx_k_encResolution[] = "encResolution";
static const char __pyx_k_endLuaErrCode[] = "endLuaErrCode";
static const char __pyx_k_extAxisStatus[] = "extAxisStatus";
static const char __pyx_k_getsegmentrtn[] = "getsegmentrtn";
static const char __pyx_k_gripperEnable[] = "gripperEnable";
static const char __pyx_k_gripperRotNum[] = "gripperRotNum";
static const char __pyx_k_gripper_fault[] = "gripper_fault";
static const char __pyx_k_gripper_speed[] = "gripper_speed";
static const char __pyx_k_impedanceFlag[] = "impedanceFlag";
static const char __pyx_k_init_subclass[] = "__init_subclass__";
static const char __pyx_k_joint_pos_ref[] = "joint_pos_ref";
static const char __pyx_k_lua_file_name[] = "lua_file_name";
static const char __pyx_k_max_threshold[] = "max_threshold";
static const char __pyx_k_min_threshold[] = "min_threshold";
static const char __pyx_k_no_block_flag[] = "no_block_flag";
static const char __pyx_k_offset_flag_p[] = "offset_flag_p";
static const char __pyx_k_offset_flag_t[] = "offset_flag_t";
static const char __pyx_k_posAdapt_sign[] = "posAdapt_sign";
static const char __pyx_k_program_state[] = "program_state";
static const char __pyx_k_referenceType[] = "referenceType";
static const char __pyx_k_saveFlag_flag[] = "saveFlag_flag";
static const char __pyx_k_sensitivePara[] = "sensitivePara";
static const char __pyx_k_set_log_level[] = "set_log_level";
static const char __pyx_k_setup_logging[] = "setup_logging";
static const char __pyx_k_startDistance[] = "startDistance";
static const char __pyx_k_weaveYawAngle[] = "weaveYawAngle";
static const char __pyx_k_xmlrpc_client[] = "xmlrpc.client";
static const char __pyx_k_AccSmoothStart[] = "AccSmoothStart";
static const char __pyx_k_AuxServoEnable[] = "AuxServoEnable";
static const char __pyx_k_AuxServoGetAcc[] = "AuxServoGetAcc";
static const char __pyx_k_AuxServoHoming[] = "AuxServoHoming";
static const char __pyx_k_AuxServoSetAcc[] = "AuxServoSetAcc";
static const char __pyx_k_ComputeFileMD5[] = "ComputeFileMD5";
static const char __pyx_k_ComputePrePick[] = "ComputePrePick";
static const char __pyx_k_ExtAxisServoOn[] = "ExtAxisServoOn";
static const char __pyx_k_ExtAxisStopJog[] = "ExtAxisStopJog";
static const char __pyx_k_FT_FindSurface[] = "FT_FindSurface";
static const char __pyx_k_GetCurrentLine[] = "GetCurrentLine";
static const char __pyx_k_GetSDKComState[] = "GetSDKComState";
static const char __pyx_k_GetSysVarValue[] = "GetSysVarValue";
static const char __pyx_k_GetSystemClock[] = "GetSystemClock";
static const char __pyx_k_MoveToolAOStop[] = "MoveToolAOStop";
static const char __pyx_k_NewSplinePoint[] = "NewSplinePoint";
static const char __pyx_k_NewSplineStart[] = "NewSplineStart";
static const char __pyx_k_RPC_ActGripper[] = "RPC.ActGripper";
static const char __pyx_k_RPC_FT_Control[] = "RPC.FT_Control";
static const char __pyx_k_RPC_FT_SetZero[] = "RPC.FT_SetZero";
static const char __pyx_k_RPC_GetLuaList[] = "RPC.GetLuaList";
static const char __pyx_k_RPC_GetRobotSN[] = "RPC.GetRobotSN";
static const char __pyx_k_RPC_ImmStopJOG[] = "RPC.ImmStopJOG";
static const char __pyx_k_RPC_LoggerInit[] = "RPC.LoggerInit";
static const char __pyx_k_RPC_MoveAOStop[] = "RPC.MoveAOStop";
static const char __pyx_k_RPC_ProgramRun[] = "RPC.ProgramRun";
static const char __pyx_k_RPC_ServoJTEnd[] = "RPC.ServoJTEnd";
static const char __pyx_k_RPC_StopMotion[] = "RPC.StopMotion";
static const char __pyx_k_RPC_WaitToolAI[] = "RPC.WaitToolAI";
static const char __pyx_k_RPC_WaitToolDI[] = "RPC.WaitToolDI";
static const char __pyx_k_RPC_WeaveStart[] = "RPC.WeaveStart";
static const char __pyx_k_SegmentWeldEnd[] = "SegmentWeldEnd";
static const char __pyx_k_ServoMoveStart[] = "ServoMoveStart";
static const char __pyx_k_SetExToolCoord[] = "SetExToolCoord";
static const char __pyx_k_SetLoggerLevel[] = "SetLoggerLevel";
static const char __pyx_k_SetSysVarValue[] = "SetSysVarValue";
static const char __pyx_k_SlaveFileWrite[] = "SlaveFileWrite";
static const char __pyx_k_WeaveChangeEnd[] = "WeaveChangeEnd";
static const char __pyx_k_WireSearchWait[] = "WireSearchWait";
static const char __pyx_k_abortWeldDINum[] = "abortWeldDINum";
static const char __pyx_k_cl_dgt_input_h[] = "cl_dgt_input_h";
static const char __pyx_k_cl_dgt_input_l[] = "cl_dgt_input_l";
static const char __pyx_k_closeRPC_state[] = "closeRPC_state";
static const char __pyx_k_collisionState[] = "collisionState";
static const char __pyx_k_directionPoint[] = "directionPoint";
static const char __pyx_k_disconnectTime[] = "disconnectTime";
static const char __pyx_k_find_head_flag[] = "find_head_flag";
static const char __pyx_k_flange_cur_pos[] = "flange_cur_pos";
static const char __pyx_k_formatted_date[] = "formatted_date";
static const char __pyx_k_ft_sensor_data[] = "ft_sensor_data";
static const char __pyx_k_g_sock_com_err[] = "g_sock_com_err";
static const char __pyx_k_gripper_active[] = "gripper_active";
static const char __pyx_k_isNoBlock_flag[] = "isNoBlock_flag";
static const char __pyx_k_logging_thread[] = "logging_thread";
static const char __pyx_k_minShoulderPos[] = "minShoulderPos";
static const char __pyx_k_rbtEnableState[] = "rbtEnableState";
static const char __pyx_k_reconnect_flag[] = "reconnect_flag";
static const char __pyx_k_reconnect_lock[] = "reconnect_lock";
static const char __pyx_k_retry_interval[] = "retry_interval";
static const char __pyx_k_robot_file_url[] = "robot_file_url";
static const char __pyx_k_save_file_path[] = "save_file_path";
static const char __pyx_k_sock_cli_state[] = "sock_cli_state";
static const char __pyx_k_tl_dgt_input_l[] = "tl_dgt_input_l";
static const char __pyx_k_weaveFrequency[] = "weaveFrequency";
static const char __pyx_k_weaveLeftRange[] = "weaveLeftRange";
static const char __pyx_k_weldVoltageMax[] = "weldVoltageMax";
static const char __pyx_k_weldVoltageMin[] = "weldVoltageMin";
static const char __pyx_k_xmlrpc_timeout[] = "xmlrpc_timeout";
static const char __pyx_k_AngularSpeedEnd[] = "AngularSpeedEnd";
static const char __pyx_k_ComputePostPick[] = "ComputePostPick";
static const char __pyx_k_DragTeachSwitch[] = "DragTeachSwitch";
static const char __pyx_k_EXT_AXIS_STATUS[] = "EXT_AXIS_STATUS";
static const char __pyx_k_ExtAxisStartJog[] = "ExtAxisStartJog";
static const char __pyx_k_FT_CalCenterEnd[] = "FT_CalCenterEnd";
static const char __pyx_k_FT_LinInsertion[] = "FT_LinInsertion";
static const char __pyx_k_FT_PdIdenRecord[] = "FT_PdIdenRecord";
static const char __pyx_k_FT_RotInsertion[] = "FT_RotInsertion";
static const char __pyx_k_FT_SpiralSearch[] = "FT_SpiralSearch";
static const char __pyx_k_GetActualTCPNum[] = "GetActualTCPNum";
static const char __pyx_k_GetControllerIP[] = "GetControllerIP";
static const char __pyx_k_GetJointTorques[] = "GetJointTorques";
static const char __pyx_k_GetProgramState[] = "GetProgramState";
static const char __pyx_k_GetTPDStartPose[] = "GetTPDStartPose";
static const char __pyx_k_LoadCtrlOpenLUA[] = "LoadCtrlOpenLUA";
static const char __pyx_k_LoadTrajectoryJ[] = "LoadTrajectoryJ";
static const char __pyx_k_LogWriterThread[] = "LogWriterThread";
static const char __pyx_k_LuaUpLoadUpdate[] = "LuaUpLoadUpdate";
static const char __pyx_k_MoveToolAOStart[] = "MoveToolAOStart";
static const char __pyx_k_MoveTrajectoryJ[] = "MoveTrajectoryJ";
static const char __pyx_k_ROBOT_AUX_STATE[] = "ROBOT_AUX_STATE";
static const char __pyx_k_RPC_ComputeTcp4[] = "RPC.ComputeTcp4";
static const char __pyx_k_RPC_ComputeTool[] = "RPC.ComputeTool";
static const char __pyx_k_RPC_ExtAxisMove[] = "RPC.ExtAxisMove";
static const char __pyx_k_RPC_FT_Activate[] = "RPC.FT_Activate";
static const char __pyx_k_RPC_LuaDownLoad[] = "RPC.LuaDownLoad";
static const char __pyx_k_RPC_MoveAOStart[] = "RPC.MoveAOStart";
static const char __pyx_k_RPC_MoveGripper[] = "RPC.MoveGripper";
static const char __pyx_k_RPC_PauseMotion[] = "RPC.PauseMotion";
static const char __pyx_k_RPC_ProgramLoad[] = "RPC.ProgramLoad";
static const char __pyx_k_RPC_ProgramStop[] = "RPC.ProgramStop";
static const char __pyx_k_RPC_RobotEnable[] = "RPC.RobotEnable";
static const char __pyx_k_RPC_SetTPDParam[] = "RPC.SetTPDParam";
static const char __pyx_k_RPC_SetTPDStart[] = "RPC.SetTPDStart";
static const char __pyx_k_RPC_SetToolList[] = "RPC.SetToolList";
static const char __pyx_k_RPC_SetWObjList[] = "RPC.SetWObjList";
static const char __pyx_k_RPC_SplineStart[] = "RPC.SplineStart";
static const char __pyx_k_RPC_ToolTrsfEnd[] = "RPC.ToolTrsfEnd";
static const char __pyx_k_RPC_TractorStop[] = "RPC.TractorStop";
static const char __pyx_k_RPC_WaitMultiDI[] = "RPC.WaitMultiDI";
static const char __pyx_k_RPC_WeaveEndSim[] = "RPC.WeaveEndSim";
static const char __pyx_k_RPC__FileDelete[] = "_RPC__FileDelete";
static const char __pyx_k_RPC__FileUpLoad[] = "_RPC__FileUpLoad";
static const char __pyx_k_RPC_log_warning[] = "RPC.log_warning";
static const char __pyx_k_SetAxleFileType[] = "SetAxleFileType";
static const char __pyx_k_SetTcp4RefPoint[] = "SetTcp4RefPoint";
static const char __pyx_k_ShutDownRobotOS[] = "ShutDownRobotOS";
static const char __pyx_k_SoftwareUpgrade[] = "SoftwareUpgrade";
static const char __pyx_k_WeaveInspectEnd[] = "WeaveInspectEnd";
static const char __pyx_k_WireSearchStart[] = "WireSearchStart";
static const char __pyx_k_cl_analog_input[] = "cl_analog_input";
static const char __pyx_k_cl_dgt_output_h[] = "cl_dgt_output_h";
static const char __pyx_k_cl_dgt_output_l[] = "cl_dgt_output_l";
static const char __pyx_k_errorAlarm_flag[] = "errorAlarm_flag";
static const char __pyx_k_error_happended[] = "error happended";
static const char __pyx_k_gripperRotSpeed[] = "gripperRotSpeed";
static const char __pyx_k_gripper_current[] = "gripper_current";
static const char __pyx_k_gripper_voltage[] = "gripper_voltage";
static const char __pyx_k_offsetParameter[] = "offsetParameter";
static const char __pyx_k_reconnectEnable[] = "reconnectEnable";
static const char __pyx_k_reconnectPeriod[] = "reconnectPeriod";
static const char __pyx_k_robot_state_pkg[] = "robot_state_pkg";
static const char __pyx_k_searchDoneDINum[] = "searchDoneDINum";
static const char __pyx_k_servoResolution[] = "servoResolution";
static const char __pyx_k_tl_anglog_input[] = "tl_anglog_input";
static const char __pyx_k_tl_dgt_output_l[] = "tl_dgt_output_l";
static const char __pyx_k_trajectory_pnum[] = "trajectory_pnum";
static const char __pyx_k_weaveRightRange[] = "weaveRightRange";
static const char __pyx_k_weaveStationary[] = "weaveStationary";
static const char __pyx_k_AuxServoGetParam[] = "AuxServoGetParam";
static const char __pyx_k_AuxServoSetParam[] = "AuxServoSetParam";
static const char __pyx_k_AxleSensorConfig[] = "AxleSensorConfig";
static const char __pyx_k_ComputeWObjCoord[] = "ComputeWObjCoord";
static const char __pyx_k_ConveyorIODetect[] = "ConveyorIODetect";
static const char __pyx_k_ConveyorSetParam[] = "ConveyorSetParam";
static const char __pyx_k_ConveyorStartEnd[] = "ConveyorStartEnd";
static const char __pyx_k_ConveyorTrackEnd[] = "ConveyorTrackEnd";
static const char __pyx_k_ExtAxisSetHoming[] = "ExtAxisSetHoming";
static const char __pyx_k_ExtAxisSyncMoveC[] = "ExtAxisSyncMoveC";
static const char __pyx_k_ExtAxisSyncMoveJ[] = "ExtAxisSyncMoveJ";
static const char __pyx_k_ExtAxisSyncMoveL[] = "ExtAxisSyncMoveL";
static const char __pyx_k_FT_PdIdenCompute[] = "FT_PdIdenCompute";
static const char __pyx_k_GetActualTCPPose[] = "GetActualTCPPose";
static const char __pyx_k_GetActualWObjNum[] = "GetActualWObjNum";
static const char __pyx_k_GetExDevProtocol[] = "GetExDevProtocol";
static const char __pyx_k_GetGripperConfig[] = "GetGripperConfig";
static const char __pyx_k_GetGripperRotNum[] = "GetGripperRotNum";
static const char __pyx_k_GetInverseKinRef[] = "GetInverseKinRef";
static const char __pyx_k_GetLoadedProgram[] = "GetLoadedProgram";
static const char __pyx_k_GetSegWeldDisDir[] = "GetSegWeldDisDir";
static const char __pyx_k_GetTargetPayload[] = "GetTargetPayload";
static const char __pyx_k_LoadIdentifyMain[] = "LoadIdentifyMain";
static const char __pyx_k_LoadTrajectoryLA[] = "LoadTrajectoryLA";
static const char __pyx_k_MoveTrajectoryLA[] = "MoveTrajectoryLA";
static const char __pyx_k_PointTableSwitch[] = "PointTableSwitch";
static const char __pyx_k_PointTableUpLoad[] = "PointTableUpLoad";
static const char __pyx_k_PointTableUpload[] = "PointTableUpload";
static const char __pyx_k_RPC_AccSmoothEnd[] = "RPC.AccSmoothEnd";
static const char __pyx_k_RPC_ComputeExTCF[] = "RPC.ComputeExTCF";
static const char __pyx_k_RPC_FT_GetConfig[] = "RPC.FT_GetConfig";
static const char __pyx_k_RPC_FT_SetConfig[] = "RPC.FT_SetConfig";
static const char __pyx_k_RPC_GetSSHKeygen[] = "RPC.GetSSHKeygen";
static const char __pyx_k_RPC_GetTCPOffset[] = "RPC.GetTCPOffset";
static const char __pyx_k_RPC_NewSplineEnd[] = "RPC.NewSplineEnd";
static const char __pyx_k_RPC_ProgramPause[] = "RPC.ProgramPause";
static const char __pyx_k_RPC_ResumeMotion[] = "RPC.ResumeMotion";
static const char __pyx_k_RPC_ServoJTStart[] = "RPC.ServoJTStart";
static const char __pyx_k_RPC_ServoMoveEnd[] = "RPC.ServoMoveEnd";
static const char __pyx_k_RPC_SetAspirated[] = "RPC.SetAspirated";
static const char __pyx_k_RPC_SetLoadCoord[] = "RPC.SetLoadCoord";
static const char __pyx_k_RPC_SetOaccScale[] = "RPC.SetOaccScale";
static const char __pyx_k_RPC_SetSSHScpCmd[] = "RPC.SetSSHScpCmd";
static const char __pyx_k_RPC_SetTPDDelete[] = "RPC.SetTPDDelete";
static const char __pyx_k_RPC_SetToolCoord[] = "RPC.SetToolCoord";
static const char __pyx_k_RPC_SetToolPoint[] = "RPC.SetToolPoint";
static const char __pyx_k_RPC_SetWObjCoord[] = "RPC.SetWObjCoord";
static const char __pyx_k_RPC_TractorMoveC[] = "RPC.TractorMoveC";
static const char __pyx_k_RPC_TractorMoveL[] = "RPC.TractorMoveL";
static const char __pyx_k_RPC_WeaveSetPara[] = "RPC.WeaveSetPara";
static const char __pyx_k_RPC___FileDelete[] = "RPC.__FileDelete";
static const char __pyx_k_RPC___FileUpLoad[] = "RPC.__FileUpLoad";
static const char __pyx_k_RPC_send_message[] = "RPC.send_message";
static const char __pyx_k_SegmentWeldStart[] = "SegmentWeldStart";
static const char __pyx_k_SetAnticollision[] = "SetAnticollision";
static const char __pyx_k_SetAxleLuaEnable[] = "SetAxleLuaEnable";
static const char __pyx_k_SetExDevProtocol[] = "SetExDevProtocol";
static const char __pyx_k_SetGripperConfig[] = "SetGripperConfig";
static const char __pyx_k_SetLimitNegative[] = "SetLimitNegative";
static const char __pyx_k_SetLimitPositive[] = "SetLimitPositive";
static const char __pyx_k_SingularAvoidEnd[] = "SingularAvoidEnd";
static const char __pyx_k_WeaveChangeStart[] = "WeaveChangeStart";
static const char __pyx_k_actual_TCP_Speed[] = "actual_TCP_Speed";
static const char __pyx_k_cl_analog_output[] = "cl_analog_output";
static const char __pyx_k_connect_to_robot[] = "connect_to_robot";
static const char __pyx_k_current_datetime[] = "current_datetime";
static const char __pyx_k_dragMaxTcpOriVel[] = "dragMaxTcpOriVel";
static const char __pyx_k_from_buffer_copy[] = "from_buffer_copy";
static const char __pyx_k_ft_sensor_active[] = "ft_sensor_active";
static const char __pyx_k_gripperRotTorque[] = "gripperRotTorque";
static const char __pyx_k_gripper_fault_id[] = "gripper_fault_id";
static const char __pyx_k_gripper_position[] = "gripper_position";
static const char __pyx_k_log_output_model[] = "log_output_model";
static const char __pyx_k_logging_handlers[] = "logging.handlers";
static const char __pyx_k_outputVoltageMax[] = "outputVoltageMax";
static const char __pyx_k_outputVoltageMin[] = "outputVoltageMin";
static const char __pyx_k_point_table_name[] = "point_table_name";
static const char __pyx_k_referenceCurrent[] = "referenceCurrent";
static const char __pyx_k_searchStartDONum[] = "searchStartDONum";
static const char __pyx_k_servoSoftVersion[] = "servoSoftVersion";
static const char __pyx_k_target_TCP_Speed[] = "target_TCP_Speed";
static const char __pyx_k_tl_analog_output[] = "tl_analog_output";
static const char __pyx_k_weaveCircleRadio[] = "weaveCircleRadio";
static const char __pyx_k_weaveIncStayTime[] = "weaveIncStayTime";
static const char __pyx_k_An_error_occurred[] = "An error occurred: ";
static const char __pyx_k_AngularSpeedStart[] = "AngularSpeedStart";
static const char __pyx_k_AuxServoGetStatus[] = "AuxServoGetStatus";
static const char __pyx_k_ConveyorComDetect[] = "ConveyorComDetect";
static const char __pyx_k_FT_CalCenterStart[] = "FT_CalCenterStart";
static const char __pyx_k_FT_ComplianceStop[] = "FT_ComplianceStop";
static const char __pyx_k_GetActualTCPSpeed[] = "GetActualTCPSpeed";
static const char __pyx_k_GetDHCompensation[] = "GetDHCompensation";
static const char __pyx_k_GetRobotErrorCode[] = "GetRobotErrorCode";
static const char __pyx_k_GetTargetTCPSpeed[] = "GetTargetTCPSpeed";
static const char __pyx_k_LaserSensorRecord[] = "LaserSensorRecord";
static const char __pyx_k_PtpFIRPlanningEnd[] = "PtpFIRPlanningEnd";
static const char __pyx_k_RPC_AxleLuaUpload[] = "RPC.AxleLuaUpload";
static const char __pyx_k_RPC_GetForwardKin[] = "RPC.GetForwardKin";
static const char __pyx_k_RPC_GetInverseKin[] = "RPC.GetInverseKin";
static const char __pyx_k_RPC_GetSDKVersion[] = "RPC.GetSDKVersion";
static const char __pyx_k_RPC_GetSafetyCode[] = "RPC.GetSafetyCode";
static const char __pyx_k_RPC_GetWObjOffset[] = "RPC.GetWObjOffset";
static const char __pyx_k_RPC_IsInDragTeach[] = "RPC.IsInDragTeach";
static const char __pyx_k_RPC_ProgramResume[] = "RPC.ProgramResume";
static const char __pyx_k_RPC_RbLogDownload[] = "RPC.RbLogDownload";
static const char __pyx_k_RPC_ResetAllError[] = "RPC.ResetAllError";
static const char __pyx_k_RPC_SetExTCPPoint[] = "RPC.SetExTCPPoint";
static const char __pyx_k_RPC_SetExToolList[] = "RPC.SetExToolList";
static const char __pyx_k_RPC_SetLoadWeight[] = "RPC.SetLoadWeight";
static const char __pyx_k_RPC_SetPowerLimit[] = "RPC.SetPowerLimit";
static const char __pyx_k_RPC_SetWebTPDStop[] = "RPC.SetWebTPDStop";
static const char __pyx_k_RPC_ToolTrsfStart[] = "RPC.ToolTrsfStart";
static const char __pyx_k_RPC_TractorEnable[] = "RPC.TractorEnable";
static const char __pyx_k_RPC_TractorHoming[] = "RPC.TractorHoming";
static const char __pyx_k_RPC_WeaveStartSim[] = "RPC.WeaveStartSim";
static const char __pyx_k_RPC_WireSearchEnd[] = "RPC.WireSearchEnd";
static const char __pyx_k_RPC__FileDownLoad[] = "_RPC__FileDownLoad";
static const char __pyx_k_RPC_set_log_level[] = "RPC.set_log_level";
static const char __pyx_k_RPC_setup_logging[] = "RPC.setup_logging";
static const char __pyx_k_SetRobotPosToAxis[] = "SetRobotPosToAxis";
static const char __pyx_k_SetWObjCoordPoint[] = "SetWObjCoordPoint";
static const char __pyx_k_TrajectoryJDelete[] = "TrajectoryJDelete";
static const char __pyx_k_TrajectoryJUpLoad[] = "TrajectoryJUpLoad";
static const char __pyx_k_UnloadCtrlOpenLUA[] = "UnloadCtrlOpenLUA";
static const char __pyx_k_WeaveInspectStart[] = "WeaveInspectStart";
static const char __pyx_k_WeldingSetCurrent[] = "WeldingSetCurrent";
static const char __pyx_k_WeldingSetVoltage[] = "WeldingSetVoltage";
static const char __pyx_k_delayDisExAxisNum[] = "delayDisExAxisNum";
static const char __pyx_k_forceSensorEnable[] = "forceSensorEnable";
static const char __pyx_k_interfereDragFlag[] = "interfereDragFlag";
static const char __pyx_k_jointDriverTorque[] = "jointDriverTorque";
static const char __pyx_k_overSpeedStrategy[] = "overSpeedStrategy";
static const char __pyx_k_setdefaulttimeout[] = "setdefaulttimeout";
static const char __pyx_k_weaveLeftStayTime[] = "weaveLeftStayTime";
static const char __pyx_k_AuxServoClearError[] = "AuxServoClearError";
static const char __pyx_k_AxleSensorActivate[] = "AxleSensorActivate";
static const char __pyx_k_AxleSensorRegWrite[] = "AxleSensorRegWrite";
static const char __pyx_k_ConveyorTrackMoveL[] = "ConveyorTrackMoveL";
static const char __pyx_k_ConveyorTrackStart[] = "ConveyorTrackStart";
static const char __pyx_k_ERR_FILE_TOO_LARGE[] = "ERR_FILE_TOO_LARGE";
static const char __pyx_k_ExtAxisParamConfig[] = "ExtAxisParamConfig";
static const char __pyx_k_ExtAxisSetRefPoint[] = "ExtAxisSetRefPoint";
static const char __pyx_k_FT_ComplianceStart[] = "FT_ComplianceStart";
static const char __pyx_k_FT_PdCogIdenRecord[] = "FT_PdCogIdenRecord";
static const char __pyx_k_GetCtrlOpenLUAName[] = "GetCtrlOpenLUAName";
static const char __pyx_k_GetDefaultTransVel[] = "GetDefaultTransVel";
static const char __pyx_k_GetGripperRotSpeed[] = "GetGripperRotSpeed";
static const char __pyx_k_GetRobotMotionDone[] = "GetRobotMotionDone";
static const char __pyx_k_GetSafetyStopState[] = "GetSafetyStopState";
static const char __pyx_k_GetSoftwareVersion[] = "GetSoftwareVersion";
static const char __pyx_k_PointTableDownLoad[] = "PointTableDownLoad";
static const char __pyx_k_PointTableDownload[] = "PointTableDownload";
static const char __pyx_k_PointsOffsetEnable[] = "PointsOffsetEnable";
static const char __pyx_k_RPC_AccSmoothStart[] = "RPC.AccSmoothStart";
static const char __pyx_k_RPC_AuxServoEnable[] = "RPC.AuxServoEnable";
static const char __pyx_k_RPC_AuxServoGetAcc[] = "RPC.AuxServoGetAcc";
static const char __pyx_k_RPC_AuxServoHoming[] = "RPC.AuxServoHoming";
static const char __pyx_k_RPC_AuxServoSetAcc[] = "RPC.AuxServoSetAcc";
static const char __pyx_k_RPC_ComputeFileMD5[] = "RPC.ComputeFileMD5";
static const char __pyx_k_RPC_ComputePrePick[] = "RPC.ComputePrePick";
static const char __pyx_k_RPC_ExtAxisServoOn[] = "RPC.ExtAxisServoOn";
static const char __pyx_k_RPC_ExtAxisStopJog[] = "RPC.ExtAxisStopJog";
static const char __pyx_k_RPC_FT_FindSurface[] = "RPC.FT_FindSurface";
static const char __pyx_k_RPC_GetCurrentLine[] = "RPC.GetCurrentLine";
static const char __pyx_k_RPC_GetSDKComState[] = "RPC.GetSDKComState";
static const char __pyx_k_RPC_GetSysVarValue[] = "RPC.GetSysVarValue";
static const char __pyx_k_RPC_GetSystemClock[] = "RPC.GetSystemClock";
static const char __pyx_k_RPC_MoveToolAOStop[] = "RPC.MoveToolAOStop";
static const char __pyx_k_RPC_NewSplinePoint[] = "RPC.NewSplinePoint";
static const char __pyx_k_RPC_NewSplineStart[] = "RPC.NewSplineStart";
static const char __pyx_k_RPC_SegmentWeldEnd[] = "RPC.SegmentWeldEnd";
static const char __pyx_k_RPC_ServoMoveStart[] = "RPC.ServoMoveStart";
static const char __pyx_k_RPC_SetExToolCoord[] = "RPC.SetExToolCoord";
static const char __pyx_k_RPC_SetLoggerLevel[] = "RPC.SetLoggerLevel";
static const char __pyx_k_RPC_SetSysVarValue[] = "RPC.SetSysVarValue";
static const char __pyx_k_RPC_SlaveFileWrite[] = "RPC.SlaveFileWrite";
static const char __pyx_k_RPC_WeaveChangeEnd[] = "RPC.WeaveChangeEnd";
static const char __pyx_k_RPC_WireSearchWait[] = "RPC.WireSearchWait";
static const char __pyx_k_RPC___FileDownLoad[] = "RPC.__FileDownLoad";
static const char __pyx_k_SetArcDoneExtDiNum[] = "SetArcDoneExtDiNum";
static const char __pyx_k_SetAuxAIFilterTime[] = "SetAuxAIFilterTime";
static const char __pyx_k_SetAuxDIFilterTime[] = "SetAuxDIFilterTime";
static const char __pyx_k_SetCtrlOpenLUAName[] = "SetCtrlOpenLUAName";
static const char __pyx_k_SetForwardWireFeed[] = "SetForwardWireFeed";
static const char __pyx_k_SetPointToDatabase[] = "SetPointToDatabase";
static const char __pyx_k_SetReverseWireFeed[] = "SetReverseWireFeed";
static const char __pyx_k_SetRobotInstallPos[] = "SetRobotInstallPos";
static const char __pyx_k_SingularAvoidStart[] = "SingularAvoidStart";
static const char __pyx_k_WeaveOnlineSetPara[] = "WeaveOnlineSetPara";
static const char __pyx_k_additionalStayTime[] = "additionalStayTime";
static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines";
static const char __pyx_k_axisMechTransRatio[] = "axisMechTransRatio";
static const char __pyx_k_calculate_file_md5[] = "calculate_file_md5";
static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback";
static const char __pyx_k_ft_sensor_raw_data[] = "ft_sensor_raw_data";
static const char __pyx_k_gripper_motiondone[] = "gripper_motiondone";
static const char __pyx_k_referSampleCountUd[] = "referSampleCountUd";
static const char __pyx_k_referSampleStartUd[] = "referSampleStartUd";
static const char __pyx_k_safety_stop0_state[] = "safety_stop0_state";
static const char __pyx_k_safety_stop1_state[] = "safety_stop1_state";
static const char __pyx_k_weaveRightStayTime[] = "weaveRightStayTime";
static const char __pyx_k_ArcWeldTraceControl[] = "ArcWeldTraceControl";
static const char __pyx_k_AuxServoSetStatusID[] = "AuxServoSetStatusID";
static const char __pyx_k_AuxServosetStatusID[] = "AuxServosetStatusID";
static const char __pyx_k_AxleSensorConfigGet[] = "AxleSensorConfigGet";
static const char __pyx_k_BufferedFileHandler[] = "BufferedFileHandler";
static const char __pyx_k_DataPackageDownload[] = "DataPackageDownload";
static const char __pyx_k_EndForceDragControl[] = "EndForceDragControl";
static const char __pyx_k_ExtDevLoadUDPDriver[] = "ExtDevLoadUDPDriver";
static const char __pyx_k_FT_PdCogIdenCompute[] = "FT_PdCogIdenCompute";
static const char __pyx_k_GetGripperRotTorque[] = "GetGripperRotTorque";
static const char __pyx_k_GetSegmentWeldPoint[] = "GetSegmentWeldPoint";
static const char __pyx_k_GetSlaveFirmVersion[] = "GetSlaveFirmVersion";
static const char __pyx_k_GetSlaveHardVersion[] = "GetSlaveHardVersion";
static const char __pyx_k_GetTargetPayloadCog[] = "GetTargetPayloadCog";
static const char __pyx_k_GetWireSearchOffset[] = "GetWireSearchOffset";
static const char __pyx_k_LogWriterThread_run[] = "LogWriterThread.run";
static const char __pyx_k_PointTableUpdateLua[] = "PointTableUpdateLua";
static const char __pyx_k_PointsOffsetDisable[] = "PointsOffsetDisable";
static const char __pyx_k_PtpFIRPlanningStart[] = "PtpFIRPlanningStart";
static const char __pyx_k_ROBOT_REALTIME_PORT[] = "ROBOT_REALTIME_PORT";
static const char __pyx_k_RPC_AngularSpeedEnd[] = "RPC.AngularSpeedEnd";
static const char __pyx_k_RPC_ComputePostPick[] = "RPC.ComputePostPick";
static const char __pyx_k_RPC_DragTeachSwitch[] = "RPC.DragTeachSwitch";
static const char __pyx_k_RPC_ExtAxisStartJog[] = "RPC.ExtAxisStartJog";
static const char __pyx_k_RPC_FT_CalCenterEnd[] = "RPC.FT_CalCenterEnd";
static const char __pyx_k_RPC_FT_LinInsertion[] = "RPC.FT_LinInsertion";
static const char __pyx_k_RPC_FT_PdIdenRecord[] = "RPC.FT_PdIdenRecord";
static const char __pyx_k_RPC_FT_RotInsertion[] = "RPC.FT_RotInsertion";
static const char __pyx_k_RPC_FT_SpiralSearch[] = "RPC.FT_SpiralSearch";
static const char __pyx_k_RPC_GetActualTCPNum[] = "RPC.GetActualTCPNum";
static const char __pyx_k_RPC_GetControllerIP[] = "RPC.GetControllerIP";
static const char __pyx_k_RPC_GetJointTorques[] = "RPC.GetJointTorques";
static const char __pyx_k_RPC_GetProgramState[] = "RPC.GetProgramState";
static const char __pyx_k_RPC_GetTPDStartPose[] = "RPC.GetTPDStartPose";
static const char __pyx_k_RPC_LoadCtrlOpenLUA[] = "RPC.LoadCtrlOpenLUA";
static const char __pyx_k_RPC_LoadTrajectoryJ[] = "RPC.LoadTrajectoryJ";
static const char __pyx_k_RPC_MoveToolAOStart[] = "RPC.MoveToolAOStart";
static const char __pyx_k_RPC_MoveTrajectoryJ[] = "RPC.MoveTrajectoryJ";
static const char __pyx_k_RPC_SetAxleFileType[] = "RPC.SetAxleFileType";
static const char __pyx_k_RPC_SetTcp4RefPoint[] = "RPC.SetTcp4RefPoint";
static const char __pyx_k_RPC_ShutDownRobotOS[] = "RPC.ShutDownRobotOS";
static const char __pyx_k_RPC_SoftwareUpgrade[] = "RPC.SoftwareUpgrade";
static const char __pyx_k_RPC_WeaveInspectEnd[] = "RPC.WeaveInspectEnd";
static const char __pyx_k_RPC_WireSearchStart[] = "RPC.WireSearchStart";
static const char __pyx_k_RotatingFileHandler[] = "RotatingFileHandler";
static const char __pyx_k_SetArcStartExtDoNum[] = "SetArcStartExtDoNum";
static const char __pyx_k_SetAxisDHParaConfig[] = "SetAxisDHParaConfig";
static const char __pyx_k_SetOutputResetExtAO[] = "SetOutputResetExtAO";
static const char __pyx_k_SetOutputResetExtDO[] = "SetOutputResetExtDO";
static const char __pyx_k_SetSysServoBootMode[] = "SetSysServoBootMode";
static const char __pyx_k_SetTrajectoryJSpeed[] = "SetTrajectoryJSpeed";
static const char __pyx_k_actual_TCP_CmpSpeed[] = "actual_TCP_CmpSpeed";
static const char __pyx_k_fr_user_data_tar_gz[] = "fr_user_data.tar.gz";
static const char __pyx_k_join_logging_thread[] = "join_logging_thread";
static const char __pyx_k_target_TCP_CmpSpeed[] = "target_TCP_CmpSpeed";
static const char __pyx_k_AuxServoSetTargetPos[] = "AuxServoSetTargetPos";
static const char __pyx_k_ConveyorGetTrackData[] = "ConveyorGetTrackData";
static const char __pyx_k_ConveyorPointARecord[] = "ConveyorPointARecord";
static const char __pyx_k_ConveyorPointBRecord[] = "ConveyorPointBRecord";
static const char __pyx_k_ERR_FILE_OPEN_FAILED[] = "ERR_FILE_OPEN_FAILED";
static const char __pyx_k_ExtDevGetUDPComParam[] = "ExtDevGetUDPComParam";
static const char __pyx_k_ExtDevSetUDPComParam[] = "ExtDevSetUDPComParam";
static const char __pyx_k_FT_GetForceTorqueRCS[] = "FT_GetForceTorqueRCS";
static const char __pyx_k_GetGripperMotionDone[] = "GetGripperMotionDone";
static const char __pyx_k_GetJointDriverTorque[] = "GetJointDriverTorque";
static const char __pyx_k_GetJointSoftLimitDeg[] = "GetJointSoftLimitDeg";
static const char __pyx_k_GetMotionQueueLength[] = "GetMotionQueueLength";
static const char __pyx_k_GetRobotInstallAngle[] = "GetRobotInstallAngle";
static const char __pyx_k_LaserTrackingLaserOn[] = "LaserTrackingLaserOn";
static const char __pyx_k_LaserTrackingTrackOn[] = "LaserTrackingTrackOn";
static const char __pyx_k_LinArcFIRPlanningEnd[] = "LinArcFIRPlanningEnd";
static const char __pyx_k_MAX_UPLOAD_FILE_SIZE[] = "MAX_UPLOAD_FILE_SIZE";
static const char __pyx_k_PointTable_not_Found[] = "PointTable not Found!";
static const char __pyx_k_RPC_AuxServoGetParam[] = "RPC.AuxServoGetParam";
static const char __pyx_k_RPC_AuxServoSetParam[] = "RPC.AuxServoSetParam";
static const char __pyx_k_RPC_AxleSensorConfig[] = "RPC.AxleSensorConfig";
static const char __pyx_k_RPC_ComputeWObjCoord[] = "RPC.ComputeWObjCoord";
static const char __pyx_k_RPC_ConveyorIODetect[] = "RPC.ConveyorIODetect";
static const char __pyx_k_RPC_ConveyorSetParam[] = "RPC.ConveyorSetParam";
static const char __pyx_k_RPC_ConveyorStartEnd[] = "RPC.ConveyorStartEnd";
static const char __pyx_k_RPC_ConveyorTrackEnd[] = "RPC.ConveyorTrackEnd";
static const char __pyx_k_RPC_ExtAxisSetHoming[] = "RPC.ExtAxisSetHoming";
static const char __pyx_k_RPC_ExtAxisSyncMoveC[] = "RPC.ExtAxisSyncMoveC";
static const char __pyx_k_RPC_ExtAxisSyncMoveJ[] = "RPC.ExtAxisSyncMoveJ";
static const char __pyx_k_RPC_ExtAxisSyncMoveL[] = "RPC.ExtAxisSyncMoveL";
static const char __pyx_k_RPC_FT_PdIdenCompute[] = "RPC.FT_PdIdenCompute";
static const char __pyx_k_RPC_GetActualTCPPose[] = "RPC.GetActualTCPPose";
static const char __pyx_k_RPC_GetActualWObjNum[] = "RPC.GetActualWObjNum";
static const char __pyx_k_RPC_GetExDevProtocol[] = "RPC.GetExDevProtocol";
static const char __pyx_k_RPC_GetGripperConfig[] = "RPC.GetGripperConfig";
static const char __pyx_k_RPC_GetGripperRotNum[] = "RPC.GetGripperRotNum";
static const char __pyx_k_RPC_GetInverseKinRef[] = "RPC.GetInverseKinRef";
static const char __pyx_k_RPC_GetLoadedProgram[] = "RPC.GetLoadedProgram";
static const char __pyx_k_RPC_GetTargetPayload[] = "RPC.GetTargetPayload";
static const char __pyx_k_RPC_LoadIdentifyMain[] = "RPC.LoadIdentifyMain";
static const char __pyx_k_RPC_LoadTrajectoryLA[] = "RPC.LoadTrajectoryLA";
static const char __pyx_k_RPC_MoveTrajectoryLA[] = "RPC.MoveTrajectoryLA";
static const char __pyx_k_RPC_PointTableSwitch[] = "RPC.PointTableSwitch";
static const char __pyx_k_RPC_PointTableUpLoad[] = "RPC.PointTableUpLoad";
static const char __pyx_k_RPC_SegmentWeldStart[] = "RPC.SegmentWeldStart";
static const char __pyx_k_RPC_SetAnticollision[] = "RPC.SetAnticollision";
static const char __pyx_k_RPC_SetAxleLuaEnable[] = "RPC.SetAxleLuaEnable";
static const char __pyx_k_RPC_SetExDevProtocol[] = "RPC.SetExDevProtocol";
static const char __pyx_k_RPC_SetGripperConfig[] = "RPC.SetGripperConfig";
static const char __pyx_k_RPC_SetLimitNegative[] = "RPC.SetLimitNegative";
static const char __pyx_k_RPC_SetLimitPositive[] = "RPC.SetLimitPositive";
static const char __pyx_k_RPC_SingularAvoidEnd[] = "RPC.SingularAvoidEnd";
static const char __pyx_k_RPC_WeaveChangeStart[] = "RPC.WeaveChangeStart";
static const char __pyx_k_RPC_connect_to_robot[] = "RPC.connect_to_robot";
static const char __pyx_k_RbLogDownloadPrepare[] = "RbLogDownloadPrepare";
static const char __pyx_k_SetCollisionStrategy[] = "SetCollisionStrategy";
static const char __pyx_k_SetOutputResetAxleAO[] = "SetOutputResetAxleAO";
static const char __pyx_k_SetOutputResetAxleDO[] = "SetOutputResetAxleDO";
static const char __pyx_k_SetRecoverAxleLuaErr[] = "SetRecoverAxleLuaErr";
static const char __pyx_k_SetRobotInstallAngle[] = "SetRobotInstallAngle";
static const char __pyx_k_SetWeldReadyExtDiNum[] = "SetWeldReadyExtDiNum";
static const char __pyx_k_alldatasource_tar_gz[] = "alldatasource.tar.gz";
static const char __pyx_k_robot_realstate_exit[] = "robot_realstate_exit";
static const char __pyx_k_sock_cli_state_state[] = "sock_cli_state_state";
static const char __pyx_k_softwareUpgradeState[] = "softwareUpgradeState";
static const char __pyx_k_start_logging_thread[] = "start_logging_thread";
static const char __pyx_k_weldingBreakOffState[] = "weldingBreakOffState";
static const char __pyx_k_AllDataSourceDownload[] = "AllDataSourceDownload";
static const char __pyx_k_ArcWeldTraceReplayEnd[] = "ArcWeldTraceReplayEnd";
static const char __pyx_k_ConveyorPointIORecord[] = "ConveyorPointIORecord";
static const char __pyx_k_ERR_SOCKET_COM_FAILED[] = "ERR_SOCKET_COM_FAILED";
static const char __pyx_k_ERR_UPLOAD_FILE_ERROR[] = "ERR_UPLOAD_FILE_ERROR";
static const char __pyx_k_ExtDevUnloadUDPDriver[] = "ExtDevUnloadUDPDriver";
static const char __pyx_k_GetAxleLuaGripperFunc[] = "GetAxleLuaGripperFunc";
static const char __pyx_k_GetExAxisDriverConfig[] = "GetExAxisDriverConfig";
static const char __pyx_k_GetForceSensorPayload[] = "GetForceSensorPayload";
static const char __pyx_k_GetRobotRealTimeState[] = "GetRobotRealTimeState";
static const char __pyx_k_GetRobotTeachingPoint[] = "GetRobotTeachingPoint";
static const char __pyx_k_GetTrajectoryPointNum[] = "GetTrajectoryPointNum";
static const char __pyx_k_LaserTrackingLaserOff[] = "LaserTrackingLaserOff";
static const char __pyx_k_LaserTrackingTrackOff[] = "LaserTrackingTrackOff";
static const char __pyx_k_LoadDefaultProgConfig[] = "LoadDefaultProgConfig";
static const char __pyx_k_LoadIdentifyGetResult[] = "LoadIdentifyGetResult";
static const char __pyx_k_PositionorSetRefPoint[] = "PositionorSetRefPoint";
static const char __pyx_k_RPC_AngularSpeedStart[] = "RPC.AngularSpeedStart";
static const char __pyx_k_RPC_AuxServoGetStatus[] = "RPC.AuxServoGetStatus";
static const char __pyx_k_RPC_ConveyorComDetect[] = "RPC.ConveyorComDetect";
static const char __pyx_k_RPC_FT_CalCenterStart[] = "RPC.FT_CalCenterStart";
static const char __pyx_k_RPC_FT_ComplianceStop[] = "RPC.FT_ComplianceStop";
static const char __pyx_k_RPC_GetActualTCPSpeed[] = "RPC.GetActualTCPSpeed";
static const char __pyx_k_RPC_GetDHCompensation[] = "RPC.GetDHCompensation";
static const char __pyx_k_RPC_GetRobotErrorCode[] = "RPC.GetRobotErrorCode";
static const char __pyx_k_RPC_GetTargetTCPSpeed[] = "RPC.GetTargetTCPSpeed";
static const char __pyx_k_RPC_LaserSensorRecord[] = "RPC.LaserSensorRecord";
static const char __pyx_k_RPC_PtpFIRPlanningEnd[] = "RPC.PtpFIRPlanningEnd";
static const char __pyx_k_RPC_SetRobotPosToAxis[] = "RPC.SetRobotPosToAxis";
static const char __pyx_k_RPC_SetWObjCoordPoint[] = "RPC.SetWObjCoordPoint";
static const char __pyx_k_RPC_TrajectoryJDelete[] = "RPC.TrajectoryJDelete";
static const char __pyx_k_RPC_TrajectoryJUpLoad[] = "RPC.TrajectoryJUpLoad";
static const char __pyx_k_RPC_UnloadCtrlOpenLUA[] = "RPC.UnloadCtrlOpenLUA";
static const char __pyx_k_RPC_WeaveInspectStart[] = "RPC.WeaveInspectStart";
static const char __pyx_k_RPC_WeldingSetCurrent[] = "RPC.WeldingSetCurrent";
static const char __pyx_k_RPC_WeldingSetVoltage[] = "RPC.WeldingSetVoltage";
static const char __pyx_k_RPC_connection_closed[] = "RPC connection closed.";
static const char __pyx_k_SetAirControlExtDoNum[] = "SetAirControlExtDoNum";
static const char __pyx_k_SetAxleLuaGripperFunc[] = "SetAxleLuaGripperFunc";
static const char __pyx_k_SetCtrlOpenLuaErrCode[] = "SetCtrlOpenLuaErrCode";
static const char __pyx_k_SetForceSensorPayload[] = "SetForceSensorPayload";
static const char __pyx_k_SetFrictionValue_wall[] = "SetFrictionValue_wall";
static const char __pyx_k_SetTrajectoryJForceFx[] = "SetTrajectoryJForceFx";
static const char __pyx_k_SetTrajectoryJForceFy[] = "SetTrajectoryJForceFy";
static const char __pyx_k_SetTrajectoryJForceFz[] = "SetTrajectoryJForceFz";
static const char __pyx_k_point_table_file_path[] = "point_table_file_path";
static const char __pyx_k_AuxServoSetControlMode[] = "AuxServoSetControlMode";
static const char __pyx_k_AuxServoSetTargetSpeed[] = "AuxServoSetTargetSpeed";
static const char __pyx_k_ConveyorCatchPointComp[] = "ConveyorCatchPointComp";
static const char __pyx_k_ConveyorRefPointRecord[] = "ConveyorRefPointRecord";
static const char __pyx_k_ERR_NOT_FOUND_LUA_FILE[] = "ERR_NOT_FOUND_LUA_FILE";
static const char __pyx_k_ERR_SOCKET_RECV_FAILED[] = "ERR_SOCKET_RECV_FAILED";
static const char __pyx_k_ERR_SOCKET_SEND_FAILED[] = "ERR_SOCKET_SEND_FAILED";
static const char __pyx_k_ExtAxisActiveECoordSys[] = "ExtAxisActiveECoordSys";
static const char __pyx_k_ForceSensorComputeLoad[] = "ForceSensorComputeLoad";
static const char __pyx_k_GetAxleLuaEnableDevice[] = "GetAxleLuaEnableDevice";
static const char __pyx_k_GetAxleLuaEnableStatus[] = "GetAxleLuaEnableStatus";
static const char __pyx_k_GetTrajectoryStartPose[] = "GetTrajectoryStartPose";
static const char __pyx_k_LinArcFIRPlanningStart[] = "LinArcFIRPlanningStart";
static const char __pyx_k_LoadIdentifyDynVarInit[] = "LoadIdentifyDynVarInit";
static const char __pyx_k_LogWriterThread___init[] = "LogWriterThread.__init__";
static const char __pyx_k_RPC_AuxServoClearError[] = "RPC.AuxServoClearError";
static const char __pyx_k_RPC_AxleSensorActivate[] = "RPC.AxleSensorActivate";
static const char __pyx_k_RPC_AxleSensorRegWrite[] = "RPC.AxleSensorRegWrite";
static const char __pyx_k_RPC_ConveyorTrackMoveL[] = "RPC.ConveyorTrackMoveL";
static const char __pyx_k_RPC_ConveyorTrackStart[] = "RPC.ConveyorTrackStart";
static const char __pyx_k_RPC_ExtAxisParamConfig[] = "RPC.ExtAxisParamConfig";
static const char __pyx_k_RPC_ExtAxisSetRefPoint[] = "RPC.ExtAxisSetRefPoint";
static const char __pyx_k_RPC_FT_ComplianceStart[] = "RPC.FT_ComplianceStart";
static const char __pyx_k_RPC_FT_PdCogIdenRecord[] = "RPC.FT_PdCogIdenRecord";
static const char __pyx_k_RPC_GetCtrlOpenLUAName[] = "RPC.GetCtrlOpenLUAName";
static const char __pyx_k_RPC_GetDefaultTransVel[] = "RPC.GetDefaultTransVel";
static const char __pyx_k_RPC_GetGripperRotSpeed[] = "RPC.GetGripperRotSpeed";
static const char __pyx_k_RPC_GetRobotMotionDone[] = "RPC.GetRobotMotionDone";
static const char __pyx_k_RPC_GetSafetyStopState[] = "RPC.GetSafetyStopState";
static const char __pyx_k_RPC_GetSoftwareVersion[] = "RPC.GetSoftwareVersion";
static const char __pyx_k_RPC_PointTableDownLoad[] = "RPC.PointTableDownLoad";
static const char __pyx_k_RPC_PointsOffsetEnable[] = "RPC.PointsOffsetEnable";
static const char __pyx_k_RPC_SetArcDoneExtDiNum[] = "RPC.SetArcDoneExtDiNum";
static const char __pyx_k_RPC_SetAuxAIFilterTime[] = "RPC.SetAuxAIFilterTime";
static const char __pyx_k_RPC_SetAuxDIFilterTime[] = "RPC.SetAuxDIFilterTime";
static const char __pyx_k_RPC_SetCtrlOpenLUAName[] = "RPC.SetCtrlOpenLUAName";
static const char __pyx_k_RPC_SetForwardWireFeed[] = "RPC.SetForwardWireFeed";
static const char __pyx_k_RPC_SetPointToDatabase[] = "RPC.SetPointToDatabase";
static const char __pyx_k_RPC_SetReverseWireFeed[] = "RPC.SetReverseWireFeed";
static const char __pyx_k_RPC_SetRobotInstallPos[] = "RPC.SetRobotInstallPos";
static const char __pyx_k_RPC_SingularAvoidStart[] = "RPC.SingularAvoidStart";
static const char __pyx_k_RPC_WeaveOnlineSetPara[] = "RPC.WeaveOnlineSetPara";
static const char __pyx_k_SetFrictionValue_level[] = "SetFrictionValue_level";
static const char __pyx_k_SetOutputResetCtlBoxAO[] = "SetOutputResetCtlBoxAO";
static const char __pyx_k_SetOutputResetCtlBoxDO[] = "SetOutputResetCtlBoxDO";
static const char __pyx_k_SetRefPointInExAxisEnd[] = "SetRefPointInExAxisEnd";
static const char __pyx_k_SetTrajectoryJTorqueTx[] = "SetTrajectoryJTorqueTx";
static const char __pyx_k_SetTrajectoryJTorqueTy[] = "SetTrajectoryJTorqueTy";
static const char __pyx_k_SetTrajectoryJTorqueTz[] = "SetTrajectoryJTorqueTz";
static const char __pyx_k_SetWeldMachineCtrlMode[] = "SetWeldMachineCtrlMode";
static const char __pyx_k_SetWireSearchExtDIONum[] = "SetWireSearchExtDIONum";
static const char __pyx_k_WELDING_BREAKOFF_STATE[] = "WELDING_BREAKOFF_STATE";
static const char __pyx_k_WeldingGetProcessParam[] = "WeldingGetProcessParam";
static const char __pyx_k_WeldingSetProcessParam[] = "WeldingSetProcessParam";
static const char __pyx_k_arcInterruptTimeLength[] = "arcInterruptTimeLength";
static const char __pyx_k_jointDriverTemperature[] = "jointDriverTemperature";
static const char __pyx_k_tcpDetectionThreshould[] = "tcpDetectionThreshould";
static const char __pyx_k_ArcWeldTraceReplayStart[] = "ArcWeldTraceReplayStart";
static const char __pyx_k_AuxServoSetTargetTorque[] = "AuxServoSetTargetTorque";
static const char __pyx_k_ERR_POINTTABLE_NOTFOUND[] = "ERR_POINTTABLE_NOTFOUND";
static const char __pyx_k_Error_occurred_returned[] = " Error occurred. returned: ";
static const char __pyx_k_ExtAxisComputeECoordSys[] = "ExtAxisComputeECoordSys";
static const char __pyx_k_ExtDevUDPClientComClose[] = "ExtDevUDPClientComClose";
static const char __pyx_k_ExtDevUDPClientComReset[] = "ExtDevUDPClientComReset";
static const char __pyx_k_FT_GetForceTorqueOrigin[] = "FT_GetForceTorqueOrigin";
static const char __pyx_k_GetActualJointAccDegree[] = "GetActualJointAccDegree";
static const char __pyx_k_GetActualJointPosDegree[] = "GetActualJointPosDegree";
static const char __pyx_k_GetActualJointPosRadian[] = "GetActualJointPosRadian";
static const char __pyx_k_GetActualToolFlangePose[] = "GetActualToolFlangePose";
static const char __pyx_k_GetCtrlOpenLUAName_fail[] = "GetCtrlOpenLUAName fail";
static const char __pyx_k_GetRobotCurJointsConfig[] = "GetRobotCurJointsConfig";
static const char __pyx_k_GetSoftwareUpgradeState[] = "GetSoftwareUpgradeState";
static const char __pyx_k_LaserTrackingSearchStop[] = "LaserTrackingSearchStop";
static const char __pyx_k_RPC_ArcWeldTraceControl[] = "RPC.ArcWeldTraceControl";
static const char __pyx_k_RPC_AuxServosetStatusID[] = "RPC.AuxServosetStatusID";
static const char __pyx_k_RPC_AxleSensorConfigGet[] = "RPC.AxleSensorConfigGet";
static const char __pyx_k_RPC_DataPackageDownload[] = "RPC.DataPackageDownload";
static const char __pyx_k_RPC_EndForceDragControl[] = "RPC.EndForceDragControl";
static const char __pyx_k_RPC_ExtDevLoadUDPDriver[] = "RPC.ExtDevLoadUDPDriver";
static const char __pyx_k_RPC_FT_PdCogIdenCompute[] = "RPC.FT_PdCogIdenCompute";
static const char __pyx_k_RPC_GetGripperRotTorque[] = "RPC.GetGripperRotTorque";
static const char __pyx_k_RPC_GetSegmentWeldPoint[] = "RPC.GetSegmentWeldPoint";
static const char __pyx_k_RPC_GetSlaveFirmVersion[] = "RPC.GetSlaveFirmVersion";
static const char __pyx_k_RPC_GetSlaveHardVersion[] = "RPC.GetSlaveHardVersion";
static const char __pyx_k_RPC_GetTargetPayloadCog[] = "RPC.GetTargetPayloadCog";
static const char __pyx_k_RPC_GetWireSearchOffset[] = "RPC.GetWireSearchOffset";
static const char __pyx_k_RPC_PointTableUpdateLua[] = "RPC.PointTableUpdateLua";
static const char __pyx_k_RPC_PointsOffsetDisable[] = "RPC.PointsOffsetDisable";
static const char __pyx_k_RPC_PtpFIRPlanningStart[] = "RPC.PtpFIRPlanningStart";
static const char __pyx_k_RPC_SetArcStartExtDoNum[] = "RPC.SetArcStartExtDoNum";
static const char __pyx_k_RPC_SetAxisDHParaConfig[] = "RPC.SetAxisDHParaConfig";
static const char __pyx_k_RPC_SetOutputResetExtAO[] = "RPC.SetOutputResetExtAO";
static const char __pyx_k_RPC_SetOutputResetExtDO[] = "RPC.SetOutputResetExtDO";
static const char __pyx_k_RPC_SetSysServoBootMode[] = "RPC.SetSysServoBootMode";
static const char __pyx_k_RPC_SetTrajectoryJSpeed[] = "RPC.SetTrajectoryJSpeed";
static const char __pyx_k_RPC_join_logging_thread[] = "RPC.join_logging_thread";
static const char __pyx_k_SetStaticCollisionOnOff[] = "SetStaticCollisionOnOff";
static const char __pyx_k_Software_Upload_success[] = "Software Upload success!";
static const char __pyx_k_BufferedFileHandler_emit[] = "BufferedFileHandler.emit";
static const char __pyx_k_ConveyorComDetectTrigger[] = "ConveyorComDetectTrigger";
static const char __pyx_k_GetForceSensorPayloadCog[] = "GetForceSensorPayloadCog";
static const char __pyx_k_GetInverseKinHasSolution[] = "GetInverseKinHasSolution";
static const char __pyx_k_GetSegmentWeldPoint_fail[] = "GetSegmentWeldPoint fail";
static const char __pyx_k_JointOverSpeedProtectEnd[] = "JointOverSpeedProtectEnd";
static const char __pyx_k_LaserTrackingSearchStart[] = "LaserTrackingSearchStart";
static const char __pyx_k_RPC_AuxServoSetTargetPos[] = "RPC.AuxServoSetTargetPos";
static const char __pyx_k_RPC_ConveyorGetTrackData[] = "RPC.ConveyorGetTrackData";
static const char __pyx_k_RPC_ConveyorPointARecord[] = "RPC.ConveyorPointARecord";
static const char __pyx_k_RPC_ConveyorPointBRecord[] = "RPC.ConveyorPointBRecord";
static const char __pyx_k_RPC_ExtDevGetUDPComParam[] = "RPC.ExtDevGetUDPComParam";
static const char __pyx_k_RPC_ExtDevSetUDPComParam[] = "RPC.ExtDevSetUDPComParam";
static const char __pyx_k_RPC_FT_GetForceTorqueRCS[] = "RPC.FT_GetForceTorqueRCS";
static const char __pyx_k_RPC_GetGripperMotionDone[] = "RPC.GetGripperMotionDone";
static const char __pyx_k_RPC_GetJointDriverTorque[] = "RPC.GetJointDriverTorque";
static const char __pyx_k_RPC_GetJointSoftLimitDeg[] = "RPC.GetJointSoftLimitDeg";
static const char __pyx_k_RPC_GetMotionQueueLength[] = "RPC.GetMotionQueueLength";
static const char __pyx_k_RPC_GetRobotInstallAngle[] = "RPC.GetRobotInstallAngle";
static const char __pyx_k_RPC_LaserTrackingLaserOn[] = "RPC.LaserTrackingLaserOn";
static const char __pyx_k_RPC_LaserTrackingTrackOn[] = "RPC.LaserTrackingTrackOn";
static const char __pyx_k_RPC_LinArcFIRPlanningEnd[] = "RPC.LinArcFIRPlanningEnd";
static const char __pyx_k_RPC_SetCollisionStrategy[] = "RPC.SetCollisionStrategy";
static const char __pyx_k_RPC_SetOutputResetAxleAO[] = "RPC.SetOutputResetAxleAO";
static const char __pyx_k_RPC_SetOutputResetAxleDO[] = "RPC.SetOutputResetAxleDO";
static const char __pyx_k_RPC_SetRecoverAxleLuaErr[] = "RPC.SetRecoverAxleLuaErr";
static const char __pyx_k_RPC_SetRobotInstallAngle[] = "RPC.SetRobotInstallAngle";
static const char __pyx_k_RPC_SetWeldReadyExtDiNum[] = "RPC.SetWeldReadyExtDiNum";
static const char __pyx_k_RPC_start_logging_thread[] = "RPC.start_logging_thread";
static const char __pyx_k_SetForceSensorPayloadCog[] = "SetForceSensorPayloadCog";
static const char __pyx_k_SetFrictionValue_ceiling[] = "SetFrictionValue_ceiling";
static const char __pyx_k_SetFrictionValue_freedom[] = "SetFrictionValue_freedom";
static const char __pyx_k_jointDetectionThreshould[] = "jointDetectionThreshould";
static const char __pyx_k_ERR_DOWN_LOAD_FILE_FAILED[] = "ERR_DOWN_LOAD_FILE_FAILED";
static const char __pyx_k_ERR_UPLOAD_FILE_NOT_FOUND[] = "ERR_UPLOAD_FILE_NOT_FOUND";
static const char __pyx_k_FrictionCompensationOnOff[] = "FrictionCompensationOnOff";
static const char __pyx_k_GetAxleCommunicationParam[] = "GetAxleCommunicationParam";
static const char __pyx_k_GetJointDriverTemperature[] = "GetJointDriverTemperature";
static const char __pyx_k_LoadIdentifyDynFilterInit[] = "LoadIdentifyDynFilterInit";
static const char __pyx_k_RPC_AllDataSourceDownload[] = "RPC.AllDataSourceDownload";
static const char __pyx_k_RPC_ArcWeldTraceReplayEnd[] = "RPC.ArcWeldTraceReplayEnd";
static const char __pyx_k_RPC_ConveyorPointIORecord[] = "RPC.ConveyorPointIORecord";
static const char __pyx_k_RPC_ExtDevUnloadUDPDriver[] = "RPC.ExtDevUnloadUDPDriver";
static const char __pyx_k_RPC_GetAxleLuaGripperFunc[] = "RPC.GetAxleLuaGripperFunc";
static const char __pyx_k_RPC_GetExAxisDriverConfig[] = "RPC.GetExAxisDriverConfig";
static const char __pyx_k_RPC_GetForceSensorPayload[] = "RPC.GetForceSensorPayload";
static const char __pyx_k_RPC_GetRobotRealTimeState[] = "RPC.GetRobotRealTimeState";
static const char __pyx_k_RPC_GetRobotTeachingPoint[] = "RPC.GetRobotTeachingPoint";
static const char __pyx_k_RPC_GetTrajectoryPointNum[] = "RPC.GetTrajectoryPointNum";
static const char __pyx_k_RPC_LaserTrackingLaserOff[] = "RPC.LaserTrackingLaserOff";
static const char __pyx_k_RPC_LaserTrackingTrackOff[] = "RPC.LaserTrackingTrackOff";
static const char __pyx_k_RPC_LoadDefaultProgConfig[] = "RPC.LoadDefaultProgConfig";
static const char __pyx_k_RPC_LoadIdentifyGetResult[] = "RPC.LoadIdentifyGetResult";
static const char __pyx_k_RPC_PositionorSetRefPoint[] = "RPC.PositionorSetRefPoint";
static const char __pyx_k_RPC_SetAirControlExtDoNum[] = "RPC.SetAirControlExtDoNum";
static const char __pyx_k_RPC_SetAxleLuaGripperFunc[] = "RPC.SetAxleLuaGripperFunc";
static const char __pyx_k_RPC_SetCtrlOpenLuaErrCode[] = "RPC.SetCtrlOpenLuaErrCode";
static const char __pyx_k_RPC_SetForceSensorPayload[] = "RPC.SetForceSensorPayload";
static const char __pyx_k_RPC_SetFrictionValue_wall[] = "RPC.SetFrictionValue_wall";
static const char __pyx_k_RPC_SetTrajectoryJForceFx[] = "RPC.SetTrajectoryJForceFx";
static const char __pyx_k_RPC_SetTrajectoryJForceFy[] = "RPC.SetTrajectoryJForceFy";
static const char __pyx_k_RPC_SetTrajectoryJForceFz[] = "RPC.SetTrajectoryJForceFz";
static const char __pyx_k_SetAxleCommunicationParam[] = "SetAxleCommunicationParam";
static const char __pyx_k_SetOutputResetSmartToolDO[] = "SetOutputResetSmartToolDO";
static const char __pyx_k_SetTrajectoryJForceTorque[] = "SetTrajectoryJForceTorque";
static const char __pyx_k_WeldingGetCurrentRelation[] = "WeldingGetCurrentRelation";
static const char __pyx_k_WeldingGetVoltageRelation[] = "WeldingGetVoltageRelation";
static const char __pyx_k_WeldingSetCurrentRelation[] = "WeldingSetCurrentRelation";
static const char __pyx_k_WeldingSetVoltageRelation[] = "WeldingSetVoltageRelation";
static const char __pyx_k_ingularityConstraintsFlag[] = "ingularityConstraintsFlag";
static const char __pyx_k_BufferedFileHandler___init[] = "BufferedFileHandler.__init__";
static const char __pyx_k_ComputeToolCoordWithPoints[] = "ComputeToolCoordWithPoints";
static const char __pyx_k_ComputeWObjCoordWithPoints[] = "ComputeWObjCoordWithPoints";
static const char __pyx_k_DataPackageDownloadPrepare[] = "DataPackageDownloadPrepare";
static const char __pyx_k_ForceSensorAutoComputeLoad[] = "ForceSensorAutoComputeLoad";
static const char __pyx_k_ForceSensorSetSaveDataFlag[] = "ForceSensorSetSaveDataFlag";
static const char __pyx_k_GetActualJointSpeedsDegree[] = "GetActualJointSpeedsDegree";
static const char __pyx_k_GetActualTCPCompositeSpeed[] = "GetActualTCPCompositeSpeed";
static const char __pyx_k_GetAxleLuaEnableDeviceType[] = "GetAxleLuaEnableDeviceType";
static const char __pyx_k_GetAxlePointRecordBtnState[] = "GetAxlePointRecordBtnState";
static const char __pyx_k_GetForceAndTorqueDragState[] = "GetForceAndTorqueDragState";
static const char __pyx_k_GetRobotEmergencyStopState[] = "GetRobotEmergencyStopState";
static const char __pyx_k_GetTargetTCPCompositeSpeed[] = "GetTargetTCPCompositeSpeed";
static const char __pyx_k_JointOverSpeedProtectStart[] = "JointOverSpeedProtectStart";
static const char __pyx_k_MultilayerOffsetTrsfToBase[] = "MultilayerOffsetTrsfToBase";
static const char __pyx_k_PositionorComputeECoordSys[] = "PositionorComputeECoordSys";
static const char __pyx_k_RPC_AuxServoSetControlMode[] = "RPC.AuxServoSetControlMode";
static const char __pyx_k_RPC_AuxServoSetTargetSpeed[] = "RPC.AuxServoSetTargetSpeed";
static const char __pyx_k_RPC_ConveyorCatchPointComp[] = "RPC.ConveyorCatchPointComp";
static const char __pyx_k_RPC_ConveyorRefPointRecord[] = "RPC.ConveyorRefPointRecord";
static const char __pyx_k_RPC_ExtAxisActiveECoordSys[] = "RPC.ExtAxisActiveECoordSys";
static const char __pyx_k_RPC_ForceSensorComputeLoad[] = "RPC.ForceSensorComputeLoad";
static const char __pyx_k_RPC_GetAxleLuaEnableDevice[] = "RPC.GetAxleLuaEnableDevice";
static const char __pyx_k_RPC_GetAxleLuaEnableStatus[] = "RPC.GetAxleLuaEnableStatus";
static const char __pyx_k_RPC_GetTrajectoryStartPose[] = "RPC.GetTrajectoryStartPose";
static const char __pyx_k_RPC_LinArcFIRPlanningStart[] = "RPC.LinArcFIRPlanningStart";
static const char __pyx_k_RPC_LoadIdentifyDynVarInit[] = "RPC.LoadIdentifyDynVarInit";
static const char __pyx_k_RPC_SetFrictionValue_level[] = "RPC.SetFrictionValue_level";
static const char __pyx_k_RPC_SetOutputResetCtlBoxAO[] = "RPC.SetOutputResetCtlBoxAO";
static const char __pyx_k_RPC_SetOutputResetCtlBoxDO[] = "RPC.SetOutputResetCtlBoxDO";
static const char __pyx_k_RPC_SetRefPointInExAxisEnd[] = "RPC.SetRefPointInExAxisEnd";
static const char __pyx_k_RPC_SetTrajectoryJTorqueTx[] = "RPC.SetTrajectoryJTorqueTx";
static const char __pyx_k_RPC_SetTrajectoryJTorqueTy[] = "RPC.SetTrajectoryJTorqueTy";
static const char __pyx_k_RPC_SetTrajectoryJTorqueTz[] = "RPC.SetTrajectoryJTorqueTz";
static const char __pyx_k_RPC_SetWeldMachineCtrlMode[] = "RPC.SetWeldMachineCtrlMode";
static const char __pyx_k_RPC_SetWireSearchExtDIONum[] = "RPC.SetWireSearchExtDIONum";
static const char __pyx_k_RPC_WeldingGetProcessParam[] = "RPC.WeldingGetProcessParam";
static const char __pyx_k_RPC_WeldingSetProcessParam[] = "RPC.WeldingSetProcessParam";
static const char __pyx_k_SetAxleLuaEnableDeviceType[] = "SetAxleLuaEnableDeviceType";
static const char __pyx_k_SetForceSensorDragAutoFlag[] = "SetForceSensorDragAutoFlag";
static const char __pyx_k_SetWireForwardFeedExtDoNum[] = "SetWireForwardFeedExtDoNum";
static const char __pyx_k_SetWireReverseFeedExtDoNum[] = "SetWireReverseFeedExtDoNum";
static const char __pyx_k_robot_state_routine_thread[] = "robot_state_routine_thread";
static const char __pyx_k_software_upgrade_not_start[] = "software upgrade not start";
static const char __pyx_k_AuxServoGetEmergencyStopAcc[] = "AuxServoGetEmergencyStopAcc";
static const char __pyx_k_AuxServoSetEmergencyStopAcc[] = "AuxServoSetEmergencyStopAcc";
static const char __pyx_k_CustomCollisionDetectionEnd[] = "CustomCollisionDetectionEnd";
static const char __pyx_k_GetAxleLuaEnableDevice_fail[] = "GetAxleLuaEnableDevice fail";
static const char __pyx_k_RPC_ArcWeldTraceReplayStart[] = "RPC.ArcWeldTraceReplayStart";
static const char __pyx_k_RPC_AuxServoSetTargetTorque[] = "RPC.AuxServoSetTargetTorque";
static const char __pyx_k_RPC_ExtAxisComputeECoordSys[] = "RPC.ExtAxisComputeECoordSys";
static const char __pyx_k_RPC_ExtDevUDPClientComClose[] = "RPC.ExtDevUDPClientComClose";
static const char __pyx_k_RPC_ExtDevUDPClientComReset[] = "RPC.ExtDevUDPClientComReset";
static const char __pyx_k_RPC_FT_GetForceTorqueOrigin[] = "RPC.FT_GetForceTorqueOrigin";
static const char __pyx_k_RPC_GetActualJointAccDegree[] = "RPC.GetActualJointAccDegree";
static const char __pyx_k_RPC_GetActualJointPosDegree[] = "RPC.GetActualJointPosDegree";
static const char __pyx_k_RPC_GetActualJointPosRadian[] = "RPC.GetActualJointPosRadian";
static const char __pyx_k_RPC_GetActualToolFlangePose[] = "RPC.GetActualToolFlangePose";
static const char __pyx_k_RPC_GetRobotCurJointsConfig[] = "RPC.GetRobotCurJointsConfig";
static const char __pyx_k_RPC_GetSoftwareUpgradeState[] = "RPC.GetSoftwareUpgradeState";
static const char __pyx_k_RPC_LaserTrackingSearchStop[] = "RPC.LaserTrackingSearchStop";
static const char __pyx_k_RPC_SetStaticCollisionOnOff[] = "RPC.SetStaticCollisionOnOff";
static const char __pyx_k_RPC_log_call_locals_wrapper[] = "RPC.log_call.<locals>.wrapper";
static const char __pyx_k_SetCollisionDetectionMethod[] = "SetCollisionDetectionMethod";
static const char __pyx_k_SetExtDIWeldBreakOffRecover[] = "SetExtDIWeldBreakOffRecover";
static const char __pyx_k_AllDataSourceDownloadPrepare[] = "AllDataSourceDownloadPrepare";
static const char __pyx_k_ERR_SAVE_FILE_PATH_NOT_FOUND[] = "ERR_SAVE_FILE_PATH_NOT_FOUND";
static const char __pyx_k_RPC_ConveyorComDetectTrigger[] = "RPC.ConveyorComDetectTrigger";
static const char __pyx_k_RPC_GetForceSensorPayloadCog[] = "RPC.GetForceSensorPayloadCog";
static const char __pyx_k_RPC_GetInverseKinHasSolution[] = "RPC.GetInverseKinHasSolution";
static const char __pyx_k_RPC_LaserTrackingSearchStart[] = "RPC.LaserTrackingSearchStart";
static const char __pyx_k_RPC_SetForceSensorPayloadCog[] = "RPC.SetForceSensorPayloadCog";
static const char __pyx_k_RPC_SetFrictionValue_ceiling[] = "RPC.SetFrictionValue_ceiling";
static const char __pyx_k_RPC_SetFrictionValue_freedom[] = "RPC.SetFrictionValue_freedom";
static const char __pyx_k_XML_RPC_connection_timed_out[] = "XML-RPC connection timed out.";
static const char __pyx_k_execute_SoftwareUpgrade_fail[] = "execute SoftwareUpgrade fail.";
static const char __pyx_k_CustomCollisionDetectionStart[] = "CustomCollisionDetectionStart";
static const char __pyx_k_RPC_FrictionCompensationOnOff[] = "RPC.FrictionCompensationOnOff";
static const char __pyx_k_RPC_GetAxleCommunicationParam[] = "RPC.GetAxleCommunicationParam";
static const char __pyx_k_RPC_GetJointDriverTemperature[] = "RPC.GetJointDriverTemperature";
static const char __pyx_k_RPC_LoadIdentifyDynFilterInit[] = "RPC.LoadIdentifyDynFilterInit";
static const char __pyx_k_RPC_SetAxleCommunicationParam[] = "RPC.SetAxleCommunicationParam";
static const char __pyx_k_RPC_SetOutputResetSmartToolDO[] = "RPC.SetOutputResetSmartToolDO";
static const char __pyx_k_RPC_SetTrajectoryJForceTorque[] = "RPC.SetTrajectoryJForceTorque";
static const char __pyx_k_RPC_WeldingGetCurrentRelation[] = "RPC.WeldingGetCurrentRelation";
static const char __pyx_k_RPC_WeldingGetVoltageRelation[] = "RPC.WeldingGetVoltageRelation";
static const char __pyx_k_RPC_WeldingSetCurrentRelation[] = "RPC.WeldingSetCurrentRelation";
static const char __pyx_k_RPC_WeldingSetVoltageRelation[] = "RPC.WeldingSetVoltageRelation";
static const char __pyx_k_WeldingAbortWeldAfterBreakOff[] = "WeldingAbortWeldAfterBreakOff";
static const char __pyx_k_xmlrpc_timeout_locals_wrapper[] = "xmlrpc_timeout.<locals>.wrapper";
static const char __pyx_k_ArcWeldTraceExtAIChannelConfig[] = "ArcWeldTraceExtAIChannelConfig";
static const char __pyx_k_RPC_ComputeToolCoordWithPoints[] = "RPC.ComputeToolCoordWithPoints";
static const char __pyx_k_RPC_ComputeWObjCoordWithPoints[] = "RPC.ComputeWObjCoordWithPoints";
static const char __pyx_k_RPC_ForceSensorAutoComputeLoad[] = "RPC.ForceSensorAutoComputeLoad";
static const char __pyx_k_RPC_ForceSensorSetSaveDataFlag[] = "RPC.ForceSensorSetSaveDataFlag";
static const char __pyx_k_RPC_GetActualJointSpeedsDegree[] = "RPC.GetActualJointSpeedsDegree";
static const char __pyx_k_RPC_GetActualTCPCompositeSpeed[] = "RPC.GetActualTCPCompositeSpeed";
static const char __pyx_k_RPC_GetAxleLuaEnableDeviceType[] = "RPC.GetAxleLuaEnableDeviceType";
static const char __pyx_k_RPC_GetAxlePointRecordBtnState[] = "RPC.GetAxlePointRecordBtnState";
static const char __pyx_k_RPC_GetForceAndTorqueDragState[] = "RPC.GetForceAndTorqueDragState";
static const char __pyx_k_RPC_GetRobotEmergencyStopState[] = "RPC.GetRobotEmergencyStopState";
static const char __pyx_k_RPC_GetTargetTCPCompositeSpeed[] = "RPC.GetTargetTCPCompositeSpeed";
static const char __pyx_k_RPC_MultilayerOffsetTrsfToBase[] = "RPC.MultilayerOffsetTrsfToBase";
static const char __pyx_k_RPC_PositionorComputeECoordSys[] = "RPC.PositionorComputeECoordSys";
static const char __pyx_k_RPC_SetAxleLuaEnableDeviceType[] = "RPC.SetAxleLuaEnableDeviceType";
static const char __pyx_k_RPC_SetForceSensorDragAutoFlag[] = "RPC.SetForceSensorDragAutoFlag";
static const char __pyx_k_RPC_SetWireForwardFeedExtDoNum[] = "RPC.SetWireForwardFeedExtDoNum";
static const char __pyx_k_RPC_SetWireReverseFeedExtDoNum[] = "RPC.SetWireReverseFeedExtDoNum";
static const char __pyx_k_RPC_robot_state_routine_thread[] = "RPC.robot_state_routine_thread";
static const char __pyx_k_SetWeldMachineCtrlModeExtDoNum[] = "SetWeldMachineCtrlModeExtDoNum";
static const char __pyx_k_f_bIII0III103III5IIIPAUSEIII_b[] = "/f/bIII0III103III5IIIPAUSEIII/b/f";
static const char __pyx_k_ERR_DOWN_LOAD_FILE_CHECK_FAILED[] = "ERR_DOWN_LOAD_FILE_CHECK_FAILED";
static const char __pyx_k_ERR_DOWN_LOAD_FILE_WRITE_FAILED[] = "ERR_DOWN_LOAD_FILE_WRITE_FAILED";
static const char __pyx_k_ForceAndJointImpedanceStartStop[] = "ForceAndJointImpedanceStartStop";
static const char __pyx_k_RPC_AuxServoGetEmergencyStopAcc[] = "RPC.AuxServoGetEmergencyStopAcc";
static const char __pyx_k_RPC_AuxServoSetEmergencyStopAcc[] = "RPC.AuxServoSetEmergencyStopAcc";
static const char __pyx_k_RPC_CustomCollisionDetectionEnd[] = "RPC.CustomCollisionDetectionEnd";
static const char __pyx_k_RPC_SetCollisionDetectionMethod[] = "RPC.SetCollisionDetectionMethod";
static const char __pyx_k_RPC_SetExtDIWeldBreakOffRecover[] = "RPC.SetExtDIWeldBreakOffRecover";
static const char __pyx_k_WeldingStartReWeldAfterBreakOff[] = "WeldingStartReWeldAfterBreakOff";
static const char __pyx_k_f_bIII0III102III4IIIStopIII_b_f[] = "/f/bIII0III102III4IIIStopIII/b/f";
static const char __pyx_k_f_bIII0III104III6IIIRESUMEIII_b[] = "/f/bIII0III104III6IIIRESUMEIII/b/f";
static const char __pyx_k_f_bIII19III240III14IIIStopExtAx[] = "/f/bIII19III240III14IIIStopExtAxisJogIII/b/f";
static const char __pyx_k_f_bIII_dIII1149III25IIIConveyor[] = "/f/bIII%dIII1149III25IIIConveyorComDetectTrigger()III/b/f";
static const char __pyx_k_levelname_s_asctime_s_pid_proce[] = "[%(levelname)s] [%(asctime)s pid:%(process)d]  %(message)s";
static const char __pyx_k_An_error_occurred_during_XML_RPC[] = "An error occurred during XML-RPC call:";
static const char __pyx_k_Error_Log_handler_not_created_Lo[] = "Error: Log handler not created. Logging setup aborted.";
static const char __pyx_k_Files_larger_than_2_MB_are_not_s[] = "Files larger than 2 MB are not supported!";
static const char __pyx_k_Files_larger_than_500_MB_are_not[] = "Files larger than 500 MB are not supported!";
static const char __pyx_k_GetRobotRealtimeStateSamplePerio[] = "GetRobotRealtimeStateSamplePeriod";
static const char __pyx_k_RPC_ArcWeldTraceExtAIChannelConf[] = "RPC.ArcWeldTraceExtAIChannelConfig";
static const char __pyx_k_RPC_CustomCollisionDetectionStar[] = "RPC.CustomCollisionDetectionStart";
static const char __pyx_k_RPC_ForceAndJointImpedanceStartS[] = "RPC.ForceAndJointImpedanceStartStop";
static const char __pyx_k_RPC_GetRobotRealtimeStateSampleP[] = "RPC.GetRobotRealtimeStateSamplePeriod";
static const char __pyx_k_RPC_SetRobotRealtimeStateSampleP[] = "RPC.SetRobotRealtimeStateSamplePeriod";
static const char __pyx_k_RPC_SetWeldMachineCtrlModeExtDoN[] = "RPC.SetWeldMachineCtrlModeExtDoNum";
static const char __pyx_k_RPC_WeldingAbortWeldAfterBreakOf[] = "RPC.WeldingAbortWeldAfterBreakOff";
static const char __pyx_k_RPC_WeldingGetCheckArcInterrupti[] = "RPC.WeldingGetCheckArcInterruptionParam";
static const char __pyx_k_RPC_WeldingGetReWeldAfterBreakOf[] = "RPC.WeldingGetReWeldAfterBreakOffParam";
static const char __pyx_k_RPC_WeldingSetCheckArcInterrupti[] = "RPC.WeldingSetCheckArcInterruptionParam";
static const char __pyx_k_RPC_WeldingSetReWeldAfterBreakOf[] = "RPC.WeldingSetReWeldAfterBreakOffParam";
static const char __pyx_k_RPC_WeldingStartReWeldAfterBreak[] = "RPC.WeldingStartReWeldAfterBreakOff";
static const char __pyx_k_SetRobotRealtimeStateSamplePerio[] = "SetRobotRealtimeStateSamplePeriod";
static const char __pyx_k_WeldingGetCheckArcInterruptionPa[] = "WeldingGetCheckArcInterruptionParam";
static const char __pyx_k_WeldingGetReWeldAfterBreakOffPar[] = "WeldingGetReWeldAfterBreakOffParam";
static const char __pyx_k_WeldingSetCheckArcInterruptionPa[] = "WeldingSetCheckArcInterruptionParam";
static const char __pyx_k_WeldingSetReWeldAfterBreakOffPar[] = "WeldingSetReWeldAfterBreakOffParam";
static const char __pyx_k_fail_to_update_lua_please_inspec[] = "fail to update lua, please inspect pointtable";
static const char __pyx_k_get_get_Teaching_Point_size_fail[] = "get get Teaching Point size fail";
/* #### Code section: decls ### */
static PyObject *__pyx_pf_5Robot_19BufferedFileHandler___init__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_mode, PyObject *__pyx_v_maxBytes, PyObject *__pyx_v_backupCount, PyObject *__pyx_v_encoding, PyObject *__pyx_v_delay); /* proto */
static PyObject *__pyx_pf_5Robot_19BufferedFileHandler_2emit(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_record); /* proto */
static PyObject *__pyx_pf_5Robot_15LogWriterThread___init__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_queue, PyObject *__pyx_v_log_handler); /* proto */
static PyObject *__pyx_pf_5Robot_15LogWriterThread_2run(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_calculate_file_md5(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_file_path); /* proto */
static PyObject *__pyx_pf_5Robot_14xmlrpc_timeout_wrapper(PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_args, PyObject *__pyx_v_kwargs); /* proto */
static PyObject *__pyx_pf_5Robot_2xmlrpc_timeout(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_func); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC___init__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ip); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_2connect_to_robot(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_4reconnect(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_6robot_state_routine_thread(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_8setup_logging(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_output_model, PyObject *__pyx_v_file_path, PyObject *__pyx_v_file_num); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_10start_logging_thread(CYTHON_UNUSED PyObject *__pyx_self, CYTHON_UNUSED PyObject *__pyx_v_self, PyObject *__pyx_v_log_handler); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_12join_logging_thread(CYTHON_UNUSED PyObject *__pyx_self, CYTHON_UNUSED PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_14__del__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_16set_log_level(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_lvl); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_8log_call_wrapper(PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_args, PyObject *__pyx_v_kwargs); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_18log_call(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_func); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_20log_debug(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_message); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_22log_info(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_message); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_24log_warning(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_message); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_26log_error(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_message); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_28send_message(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_message); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_30GetSafetyCode(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_32GetSDKVersion(CYTHON_UNUSED PyObject *__pyx_self, CYTHON_UNUSED PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_34GetControllerIP(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_36Mode(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_state); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_38DragTeachSwitch(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_state); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_40IsInDragTeach(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_42RobotEnable(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_state); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_44StartJOG(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ref, PyObject *__pyx_v_nb, PyObject *__pyx_v_dir, PyObject *__pyx_v_max_dis, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_46StopJOG(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ref); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_48ImmStopJOG(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_4__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_50MoveJ(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl, PyObject *__pyx_v_exaxis_pos, PyObject *__pyx_v_blendT, PyObject *__pyx_v_offset_flag, PyObject *__pyx_v_offset_pos); /* proto */
static PyObject *__pyx_pf_5Robot_6__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_52MoveL(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendR, PyObject *__pyx_v_exaxis_pos, PyObject *__pyx_v_search, PyObject *__pyx_v_offset_flag, PyObject *__pyx_v_offset_pos, PyObject *__pyx_v_overSpeedStrategy, PyObject *__pyx_v_speedPercent); /* proto */
static PyObject *__pyx_pf_5Robot_8__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_54MoveC(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_desc_pos_p, PyObject *__pyx_v_tool_p, PyObject *__pyx_v_user_p, PyObject *__pyx_v_desc_pos_t, PyObject *__pyx_v_tool_t, PyObject *__pyx_v_user_t, PyObject *__pyx_v_joint_pos_p, PyObject *__pyx_v_joint_pos_t, PyObject *__pyx_v_vel_p, PyObject *__pyx_v_acc_p, PyObject *__pyx_v_exaxis_pos_p, PyObject *__pyx_v_offset_flag_p, PyObject *__pyx_v_offset_pos_p, PyObject *__pyx_v_vel_t, PyObject *__pyx_v_acc_t, PyObject *__pyx_v_exaxis_pos_t, PyObject *__pyx_v_offset_flag_t, PyObject *__pyx_v_offset_pos_t, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendR); /* proto */
static PyObject *__pyx_pf_5Robot_10__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_56Circle(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_desc_pos_p, PyObject *__pyx_v_tool_p, PyObject *__pyx_v_user_p, PyObject *__pyx_v_desc_pos_t, PyObject *__pyx_v_tool_t, PyObject *__pyx_v_user_t, PyObject *__pyx_v_joint_pos_p, PyObject *__pyx_v_joint_pos_t, PyObject *__pyx_v_vel_p, PyObject *__pyx_v_acc_p, PyObject *__pyx_v_exaxis_pos_p, PyObject *__pyx_v_vel_t, PyObject *__pyx_v_acc_t, PyObject *__pyx_v_exaxis_pos_t, PyObject *__pyx_v_ovl, PyObject *__pyx_v_offset_flag, PyObject *__pyx_v_offset_pos); /* proto */
static PyObject *__pyx_pf_5Robot_12__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_58NewSpiral(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_param, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_exaxis_pos, PyObject *__pyx_v_ovl, PyObject *__pyx_v_offset_flag, PyObject *__pyx_v_offset_pos); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_60ServoMoveStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_62ServoMoveEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_64ServoJ(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_axisPos, PyObject *__pyx_v_acc, PyObject *__pyx_v_vel, PyObject *__pyx_v_cmdT, PyObject *__pyx_v_filterT, PyObject *__pyx_v_gain); /* proto */
static PyObject *__pyx_pf_5Robot_14__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_66ServoCart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_mode, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_pos_gain, PyObject *__pyx_v_acc, PyObject *__pyx_v_vel, PyObject *__pyx_v_cmdT, PyObject *__pyx_v_filterT, PyObject *__pyx_v_gain); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_68ServoJTStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_70ServoJT(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_torque, PyObject *__pyx_v_interval); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_72ServoJTEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_74MoveCart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendT, PyObject *__pyx_v_config); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_76SplineStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_16__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_78SplinePTP(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_80SplineEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_82NewSplineStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_type, PyObject *__pyx_v_averageTime); /* proto */
static PyObject *__pyx_pf_5Robot_18__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_84NewSplinePoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_lastFlag, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendR); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_86NewSplineEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_88StopMotion(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_90PauseMotion(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_92ResumeMotion(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_94PointsOffsetEnable(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag, PyObject *__pyx_v_offset_pos); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_96PointsOffsetDisable(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_98SetDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_status, PyObject *__pyx_v_smooth, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_100SetToolDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_status, PyObject *__pyx_v_smooth, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_102SetAO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_value, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_104SetToolAO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_value, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_106GetDI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_108GetToolDI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_110WaitDI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_status, PyObject *__pyx_v_maxtime, PyObject *__pyx_v_opt); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_112WaitMultiDI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_mode, PyObject *__pyx_v_id, PyObject *__pyx_v_status, PyObject *__pyx_v_maxtime, PyObject *__pyx_v_opt); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_114WaitToolDI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_status, PyObject *__pyx_v_maxtime, PyObject *__pyx_v_opt); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_116GetAI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_118GetToolAI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_120GetAxlePointRecordBtnState(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_122GetToolDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_124GetDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_126WaitAI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_sign, PyObject *__pyx_v_value, PyObject *__pyx_v_maxtime, PyObject *__pyx_v_opt); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_128WaitToolAI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_sign, PyObject *__pyx_v_value, PyObject *__pyx_v_maxtime, PyObject *__pyx_v_opt); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_130SetSpeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_vel); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_132SetSysVarValue(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_value); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_134SetToolPoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_point_num); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_136ComputeTool(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_138SetTcp4RefPoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_point_num); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_140ComputeTcp4(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_142SetToolCoord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_t_coord, PyObject *__pyx_v_type, PyObject *__pyx_v_install, PyObject *__pyx_v_toolID, PyObject *__pyx_v_loadNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_144SetToolList(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_t_coord, PyObject *__pyx_v_type, PyObject *__pyx_v_install, PyObject *__pyx_v_loadNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_146SetExTCPPoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_point_num); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_148ComputeExTCF(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_150SetExToolCoord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_etcp, PyObject *__pyx_v_etool); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_152SetExToolList(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_etcp, PyObject *__pyx_v_etool); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_154SetWObjCoordPoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_point_num); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_156ComputeWObjCoord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_method, PyObject *__pyx_v_refFrame); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_158SetWObjCoord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_coord, PyObject *__pyx_v_refFrame); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_160SetWObjList(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_coord, PyObject *__pyx_v_refFrame); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_162SetLoadWeight(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_loadNum, PyObject *__pyx_v_weight); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_164SetRobotInstallPos(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_method); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_166SetRobotInstallAngle(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_yangle, PyObject *__pyx_v_zangle); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_168SetLoadCoord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_x, PyObject *__pyx_v_y, PyObject *__pyx_v_z); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_170WaitMs(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_t_ms); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_172SetAnticollision(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_mode, PyObject *__pyx_v_level, PyObject *__pyx_v_config); /* proto */
static PyObject *__pyx_pf_5Robot_20__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_174SetCollisionStrategy(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_strategy, PyObject *__pyx_v_safeTime, PyObject *__pyx_v_safeDistance, PyObject *__pyx_v_safeVel, PyObject *__pyx_v_safetyMargin); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_176SetLimitPositive(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_p_limit); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_178SetLimitNegative(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_n_limit); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_180ResetAllError(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_182FrictionCompensationOnOff(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_state); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_184SetFrictionValue_level(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_coeff); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_186SetFrictionValue_wall(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_coeff); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_188SetFrictionValue_ceiling(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_coeff); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_190SetFrictionValue_freedom(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_coeff); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_192GetRobotInstallAngle(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_194GetSysVarValue(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_196GetActualJointPosDegree(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_198GetActualJointPosRadian(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_200GetActualJointSpeedsDegree(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_202GetActualJointAccDegree(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_204GetTargetTCPCompositeSpeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_206GetActualTCPCompositeSpeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_208GetTargetTCPSpeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_210GetActualTCPSpeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_212GetActualTCPPose(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_214GetActualTCPNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_216GetActualWObjNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_218GetActualToolFlangePose(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_220GetInverseKin(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_type, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_config); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_222GetInverseKinRef(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_type, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_joint_pos_ref); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_224GetInverseKinHasSolution(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_type, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_joint_pos_ref); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_226GetForwardKin(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_joint_pos); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_228GetJointTorques(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_230GetTargetPayload(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_232GetTargetPayloadCog(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_234GetTCPOffset(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_236GetWObjOffset(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_238GetJointSoftLimitDeg(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_240GetSystemClock(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_242GetRobotCurJointsConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_244GetDefaultTransVel(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_246GetRobotMotionDone(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_248GetRobotErrorCode(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_250GetRobotTeachingPoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_252GetMotionQueueLength(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_254GetRobotEmergencyStopState(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_256GetSafetyStopState(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_258GetSDKComState(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_260GetSSHKeygen(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_262SetSSHScpCmd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_mode, PyObject *__pyx_v_sshname, PyObject *__pyx_v_sship, PyObject *__pyx_v_usr_file_url, PyObject *__pyx_v_robot_file_url); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_264ComputeFileMD5(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_file_path); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_266GetSoftwareVersion(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_268GetSlaveHardVersion(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_270GetSlaveFirmVersion(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_272GetDHCompensation(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_274SetTPDParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name, PyObject *__pyx_v_period_ms, PyObject *__pyx_v_type, PyObject *__pyx_v_di_choose, PyObject *__pyx_v_do_choose); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_276SetTPDStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name, PyObject *__pyx_v_period_ms, PyObject *__pyx_v_type, PyObject *__pyx_v_di_choose, PyObject *__pyx_v_do_choose); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_278SetWebTPDStop(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_280SetTPDDelete(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_282LoadTPD(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_284GetTPDStartPose(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_286MoveTPD(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name, PyObject *__pyx_v_blend, PyObject *__pyx_v_ovl); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_288LoadTrajectoryJ(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name, PyObject *__pyx_v_ovl, PyObject *__pyx_v_opt); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_290MoveTrajectoryJ(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_292GetTrajectoryStartPose(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_294GetTrajectoryPointNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_296SetTrajectoryJSpeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ovl); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_298SetTrajectoryJForceTorque(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ft); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_300SetTrajectoryJForceFx(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fx); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_302SetTrajectoryJForceFy(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fy); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_304SetTrajectoryJForceFz(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fz); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_306SetTrajectoryJTorqueTx(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_tx); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_308SetTrajectoryJTorqueTy(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ty); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_310SetTrajectoryJTorqueTz(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_tz); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_312LoadDefaultProgConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag, PyObject *__pyx_v_program_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_314ProgramLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_program_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_316GetCurrentLine(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_318ProgramRun(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_320ProgramPause(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_322ProgramResume(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_324ProgramStop(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_326GetProgramState(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_328GetLoadedProgram(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_330GetGripperConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_332ActGripper(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_action); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_334MoveGripper(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_pos, PyObject *__pyx_v_vel, PyObject *__pyx_v_force, PyObject *__pyx_v_maxtime, PyObject *__pyx_v_block, PyObject *__pyx_v_type, PyObject *__pyx_v_rotNum, PyObject *__pyx_v_rotVel, PyObject *__pyx_v_rotTorque); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_336GetGripperMotionDone(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_338SetGripperConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_company, PyObject *__pyx_v_device, PyObject *__pyx_v_softversion, PyObject *__pyx_v_bus); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_340ComputePrePick(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_zlength, PyObject *__pyx_v_zangle); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_342ComputePostPick(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_zlength, PyObject *__pyx_v_zangle); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_344FT_GetConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_346FT_SetConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_company, PyObject *__pyx_v_device, PyObject *__pyx_v_softversion, PyObject *__pyx_v_bus); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_348FT_Activate(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_state); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_350FT_SetZero(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_state); /* proto */
static PyObject *__pyx_pf_5Robot_22__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_352FT_SetRCS(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ref, PyObject *__pyx_v_coord); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_354FT_PdIdenCompute(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_356FT_PdIdenRecord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_tool_id); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_358FT_PdCogIdenCompute(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_360FT_PdCogIdenRecord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_tool_id, PyObject *__pyx_v_index); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_362FT_GetForceTorqueRCS(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_364FT_GetForceTorqueOrigin(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_366FT_Guard(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag, PyObject *__pyx_v_sensor_num, PyObject *__pyx_v_select, PyObject *__pyx_v_force_torque, PyObject *__pyx_v_max_threshold, PyObject *__pyx_v_min_threshold); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_368FT_Control(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag, PyObject *__pyx_v_sensor_num, PyObject *__pyx_v_select, PyObject *__pyx_v_force_torque, PyObject *__pyx_v_gain, PyObject *__pyx_v_adj_sign, PyObject *__pyx_v_ILC_sign, PyObject *__pyx_v_max_dis, PyObject *__pyx_v_max_ang, PyObject *__pyx_v_filter_Sign, PyObject *__pyx_v_posAdapt_sign, PyObject *__pyx_v_isNoBlock); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_370FT_SpiralSearch(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_rcs, PyObject *__pyx_v_ft, PyObject *__pyx_v_dr, PyObject *__pyx_v_max_t_ms, PyObject *__pyx_v_max_vel); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_372FT_RotInsertion(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_rcs, PyObject *__pyx_v_ft, PyObject *__pyx_v_orn, PyObject *__pyx_v_angVelRot, PyObject *__pyx_v_angleMax, PyObject *__pyx_v_angAccmax, PyObject *__pyx_v_rotorn); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_374FT_LinInsertion(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_rcs, PyObject *__pyx_v_ft, PyObject *__pyx_v_disMax, PyObject *__pyx_v_linorn, PyObject *__pyx_v_lin_v, PyObject *__pyx_v_lin_a); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_376FT_CalCenterStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_378FT_CalCenterEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_380FT_FindSurface(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_rcs, PyObject *__pyx_v_dir, PyObject *__pyx_v_axis, PyObject *__pyx_v_disMax, PyObject *__pyx_v_ft, PyObject *__pyx_v_lin_v, PyObject *__pyx_v_lin_a); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_382FT_ComplianceStop(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_384FT_ComplianceStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_p, PyObject *__pyx_v_force); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_386LoadIdentifyDynFilterInit(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_388LoadIdentifyDynVarInit(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_390LoadIdentifyMain(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_joint_torque, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_t); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_392LoadIdentifyGetResult(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_gain); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_394ConveyorStartEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_status); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_396ConveyorPointIORecord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_398ConveyorPointARecord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_400ConveyorRefPointRecord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_402ConveyorPointBRecord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_404ConveyorIODetect(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_max_t); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_406ConveyorGetTrackData(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_mode); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_408ConveyorTrackStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_status); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_410ConveyorTrackEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_412ConveyorSetParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_param, PyObject *__pyx_v_followType, PyObject *__pyx_v_startDis, PyObject *__pyx_v_endDis); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_414ConveyorCatchPointComp(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_cmp); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_416ConveyorTrackMoveL(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name, PyObject *__pyx_v_tool, PyObject *__pyx_v_wobj, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendR); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_418ARCStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ioType, PyObject *__pyx_v_arcNum, PyObject *__pyx_v_timeout); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_420ARCEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ioType, PyObject *__pyx_v_arcNum, PyObject *__pyx_v_timeout); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_422WeldingSetCurrentRelation(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_currentMin, PyObject *__pyx_v_currentMax, PyObject *__pyx_v_outputVoltageMin, PyObject *__pyx_v_outputVoltageMax, PyObject *__pyx_v_AOIndex); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_424WeldingSetVoltageRelation(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weldVoltageMin, PyObject *__pyx_v_weldVoltageMax, PyObject *__pyx_v_outputVoltageMin, PyObject *__pyx_v_outputVoltageMax, PyObject *__pyx_v_AOIndex); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_426WeldingGetCurrentRelation(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_428WeldingGetVoltageRelation(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_430WeldingSetCurrent(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ioType, PyObject *__pyx_v_current, PyObject *__pyx_v_AOIndex, PyObject *__pyx_v_blend); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_432WeldingSetVoltage(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ioType, PyObject *__pyx_v_voltage, PyObject *__pyx_v_AOIndex, PyObject *__pyx_v_blend); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_434WeaveSetPara(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum, PyObject *__pyx_v_weaveType, PyObject *__pyx_v_weaveFrequency, PyObject *__pyx_v_weaveIncStayTime, PyObject *__pyx_v_weaveRange, PyObject *__pyx_v_weaveLeftRange, PyObject *__pyx_v_weaveRightRange, PyObject *__pyx_v_additionalStayTime, PyObject *__pyx_v_weaveLeftStayTime, PyObject *__pyx_v_weaveRightStayTime, PyObject *__pyx_v_weaveCircleRadio, PyObject *__pyx_v_weaveStationary, PyObject *__pyx_v_weaveYawAngle); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_436WeaveOnlineSetPara(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum, PyObject *__pyx_v_weaveType, PyObject *__pyx_v_weaveFrequency, PyObject *__pyx_v_weaveIncStayTime, PyObject *__pyx_v_weaveRange, PyObject *__pyx_v_weaveLeftStayTime, PyObject *__pyx_v_weaveRightStayTime, PyObject *__pyx_v_weaveCircleRadio, PyObject *__pyx_v_weaveStationary); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_438WeaveStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_440WeaveEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_442SetForwardWireFeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ioType, PyObject *__pyx_v_wireFeed); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_444SetReverseWireFeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ioType, PyObject *__pyx_v_wireFeed); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_446SetAspirated(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ioType, PyObject *__pyx_v_airControl); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_448GetSegmentWeldPoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_startPos, PyObject *__pyx_v_endPos, PyObject *__pyx_v_startDistance); /* proto */
static PyObject *__pyx_pf_5Robot_24__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_450SegmentWeldStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_startDesePos, PyObject *__pyx_v_endDesePos, PyObject *__pyx_v_startJPos, PyObject *__pyx_v_endJPos, PyObject *__pyx_v_weldLength, PyObject *__pyx_v_noWeldLength, PyObject *__pyx_v_weldIOType, PyObject *__pyx_v_arcNum, PyObject *__pyx_v_weldTimeout, PyObject *__pyx_v_isWeave, PyObject *__pyx_v_weaveNum, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendR, PyObject *__pyx_v_exaxis_pos, PyObject *__pyx_v_search, PyObject *__pyx_v_offset_flag, PyObject *__pyx_v_offset_pos); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_452SegmentWeldEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ioType, PyObject *__pyx_v_arcNum, PyObject *__pyx_v_timeout); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_454LoggerInit(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_output_model, PyObject *__pyx_v_file_path, PyObject *__pyx_v_file_num); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_456SetLoggerLevel(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_lvl); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_458PointTableDownLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_point_table_name, PyObject *__pyx_v_save_file_path); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_460PointTableUpLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_point_table_file_path); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_462PointTableSwitch(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_point_table_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_464PointTableUpdateLua(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_point_table_name, PyObject *__pyx_v_lua_file_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_466__FileDownLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fileType, PyObject *__pyx_v_fileName, PyObject *__pyx_v_saveFilePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_468__FileUpLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fileType, PyObject *__pyx_v_filePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_470__FileDelete(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fileType, PyObject *__pyx_v_fileName); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_472LuaDownLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fileName, PyObject *__pyx_v_savePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_474LuaUpload(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_filePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_476LuaDelete(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fileName); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_478GetLuaList(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_480AuxServoSetParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId, PyObject *__pyx_v_servoCompany, PyObject *__pyx_v_servoModel, PyObject *__pyx_v_servoSoftVersion, PyObject *__pyx_v_servoResolution, PyObject *__pyx_v_axisMechTransRatio); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_482AuxServoGetParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_484AuxServoEnable(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId, PyObject *__pyx_v_status); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_486AuxServoSetControlMode(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId, PyObject *__pyx_v_mode); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_488AuxServoSetTargetPos(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId, PyObject *__pyx_v_pos, PyObject *__pyx_v_speed, PyObject *__pyx_v_acc); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_490AuxServoSetTargetSpeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId, PyObject *__pyx_v_speed, PyObject *__pyx_v_acc); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_492AuxServoSetTargetTorque(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId, PyObject *__pyx_v_torque); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_494AuxServoHoming(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId, PyObject *__pyx_v_mode, PyObject *__pyx_v_searchVel, PyObject *__pyx_v_latchVel, PyObject *__pyx_v_acc); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_496AuxServoClearError(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_498AuxServoGetStatus(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_500AuxServosetStatusID(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_servoId); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_502SetExDevProtocol(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_protocol); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_504GetExDevProtocol(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_506SetOaccScale(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_acc); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_508MoveAOStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_AONum, PyObject *__pyx_v_maxTCPSpeed, PyObject *__pyx_v_maxAOPercent, PyObject *__pyx_v_zeroZoneCmp); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_510MoveAOStop(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_512MoveToolAOStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_AONum, PyObject *__pyx_v_maxTCPSpeed, PyObject *__pyx_v_maxAOPercent, PyObject *__pyx_v_zeroZoneCmp); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_514MoveToolAOStop(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_516ExtDevSetUDPComParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ip, PyObject *__pyx_v_port, PyObject *__pyx_v_period, PyObject *__pyx_v_lossPkgTime, PyObject *__pyx_v_lossPkgNum, PyObject *__pyx_v_disconnectTime, PyObject *__pyx_v_reconnectEnable, PyObject *__pyx_v_reconnectPeriod, PyObject *__pyx_v_reconnectNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_518ExtDevGetUDPComParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_520ExtDevLoadUDPDriver(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_522ExtDevUnloadUDPDriver(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_524ExtDevUDPClientComReset(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_526ExtDevUDPClientComClose(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_528SetRobotPosToAxis(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_installType); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_530SetAxisDHParaConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_axisConfig, PyObject *__pyx_v_axisDHd1, PyObject *__pyx_v_axisDHd2, PyObject *__pyx_v_axisDHd3, PyObject *__pyx_v_axisDHd4, PyObject *__pyx_v_axisDHa1, PyObject *__pyx_v_axisDHa2, PyObject *__pyx_v_axisDHa3, PyObject *__pyx_v_axisDHa4); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_532ExtAxisParamConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_axisId, PyObject *__pyx_v_axisType, PyObject *__pyx_v_axisDirection, PyObject *__pyx_v_axisMax, PyObject *__pyx_v_axisMin, PyObject *__pyx_v_axisVel, PyObject *__pyx_v_axisAcc, PyObject *__pyx_v_axisLead, PyObject *__pyx_v_encResolution, PyObject *__pyx_v_axisOffect, PyObject *__pyx_v_axisCompany, PyObject *__pyx_v_axisModel, PyObject *__pyx_v_axisEncType); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_534GetExAxisDriverConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_axisId); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_536ExtAxisSetRefPoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_pointNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_538ExtAxisComputeECoordSys(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_540SetRefPointInExAxisEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_pos); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_542PositionorSetRefPoint(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_pointNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_544PositionorComputeECoordSys(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_546ExtAxisActiveECoordSys(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_axisCoordNum, PyObject *__pyx_v_toolNum, PyObject *__pyx_v_coord, PyObject *__pyx_v_calibFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_548ExtAxisServoOn(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_axisID, PyObject *__pyx_v_status); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_550ExtAxisSetHoming(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_axisID, PyObject *__pyx_v_mode, PyObject *__pyx_v_searchVel, PyObject *__pyx_v_latchVel); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_552ExtAxisStartJog(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_axisID, PyObject *__pyx_v_direction, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_maxDistance); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_554ExtAxisStopJog(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_axisID); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_556SetAuxDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DONum, PyObject *__pyx_v_bOpen, PyObject *__pyx_v_smooth, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_558SetAuxAO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_AONum, PyObject *__pyx_v_value, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_560SetAuxDIFilterTime(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_filterTime); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_562SetAuxAIFilterTime(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_AINum, PyObject *__pyx_v_filterTime); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_564WaitAuxDI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DINum, PyObject *__pyx_v_bOpen, PyObject *__pyx_v_time, PyObject *__pyx_v_errorAlarm); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_566WaitAuxAI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_AINum, PyObject *__pyx_v_sign, PyObject *__pyx_v_value, PyObject *__pyx_v_time, PyObject *__pyx_v_errorAlarm); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_568GetAuxDI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DINum, PyObject *__pyx_v_isNoBlock); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_570GetAuxAI(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_AINum, PyObject *__pyx_v_isNoBlock); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_572ExtAxisMove(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_pos, PyObject *__pyx_v_ovl); /* proto */
static PyObject *__pyx_pf_5Robot_26__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_574ExtAxisSyncMoveJ(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_exaxis_pos, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendT, PyObject *__pyx_v_offset_flag, PyObject *__pyx_v_offset_pos); /* proto */
static PyObject *__pyx_pf_5Robot_28__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_576ExtAxisSyncMoveL(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_joint_pos, PyObject *__pyx_v_desc_pos, PyObject *__pyx_v_tool, PyObject *__pyx_v_user, PyObject *__pyx_v_exaxis_pos, PyObject *__pyx_v_vel, PyObject *__pyx_v_acc, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendR, PyObject *__pyx_v_search, PyObject *__pyx_v_offset_flag, PyObject *__pyx_v_offset_pos); /* proto */
static PyObject *__pyx_pf_5Robot_30__defaults__(CYTHON_UNUSED PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_578ExtAxisSyncMoveC(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_joint_pos_p, PyObject *__pyx_v_desc_pos_p, PyObject *__pyx_v_tool_p, PyObject *__pyx_v_user_p, PyObject *__pyx_v_exaxis_pos_p, PyObject *__pyx_v_joint_pos_t, PyObject *__pyx_v_desc_pos_t, PyObject *__pyx_v_tool_t, PyObject *__pyx_v_user_t, PyObject *__pyx_v_exaxis_pos_t, PyObject *__pyx_v_vel_p, PyObject *__pyx_v_acc_p, PyObject *__pyx_v_offset_flag_p, PyObject *__pyx_v_offset_pos_p, PyObject *__pyx_v_vel_t, PyObject *__pyx_v_acc_t, PyObject *__pyx_v_offset_flag_t, PyObject *__pyx_v_offset_pos_t, PyObject *__pyx_v_ovl, PyObject *__pyx_v_blendR); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_580WireSearchStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_refPos, PyObject *__pyx_v_searchVel, PyObject *__pyx_v_searchDis, PyObject *__pyx_v_autoBackFlag, PyObject *__pyx_v_autoBackVel, PyObject *__pyx_v_autoBackDis, PyObject *__pyx_v_offectFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_582WireSearchEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_refPos, PyObject *__pyx_v_searchVel, PyObject *__pyx_v_searchDis, PyObject *__pyx_v_autoBackFlag, PyObject *__pyx_v_autoBackVel, PyObject *__pyx_v_autoBackDis, PyObject *__pyx_v_offectFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_584GetWireSearchOffset(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_seamType, PyObject *__pyx_v_method, PyObject *__pyx_v_varNameRef, PyObject *__pyx_v_varNameRes); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_586WireSearchWait(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_varname); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_588SetPointToDatabase(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_varName, PyObject *__pyx_v_pos); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_590ArcWeldTraceControl(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag, PyObject *__pyx_v_delaytime, PyObject *__pyx_v_isLeftRight, PyObject *__pyx_v_klr, PyObject *__pyx_v_tStartLr, PyObject *__pyx_v_stepMaxLr, PyObject *__pyx_v_sumMaxLr, PyObject *__pyx_v_isUpLow, PyObject *__pyx_v_kud, PyObject *__pyx_v_tStartUd, PyObject *__pyx_v_stepMaxUd, PyObject *__pyx_v_sumMaxUd, PyObject *__pyx_v_axisSelect, PyObject *__pyx_v_referenceType, PyObject *__pyx_v_referSampleStartUd, PyObject *__pyx_v_referSampleCountUd, PyObject *__pyx_v_referenceCurrent, PyObject *__pyx_v_offsetType, PyObject *__pyx_v_offsetParameter); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_592ArcWeldTraceExtAIChannelConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_channel); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_594EndForceDragControl(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_status, PyObject *__pyx_v_asaptiveFlag, PyObject *__pyx_v_interfereDragFlag, PyObject *__pyx_v_ingularityConstraintsFlag, PyObject *__pyx_v_M, PyObject *__pyx_v_B, PyObject *__pyx_v_K, PyObject *__pyx_v_F, PyObject *__pyx_v_Fmax, PyObject *__pyx_v_Vmax); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_596SetForceSensorDragAutoFlag(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_status); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_598ForceAndJointImpedanceStartStop(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_status, PyObject *__pyx_v_impedanceFlag, PyObject *__pyx_v_lamdeDain, PyObject *__pyx_v_KGain, PyObject *__pyx_v_BGain, PyObject *__pyx_v_dragMaxTcpVel, PyObject *__pyx_v_dragMaxTcpOriVel); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_600GetForceAndTorqueDragState(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_602SetForceSensorPayload(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weight); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_604SetForceSensorPayloadCog(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_x, PyObject *__pyx_v_y, PyObject *__pyx_v_z); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_606GetForceSensorPayload(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_608GetForceSensorPayloadCog(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_610ForceSensorAutoComputeLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_612ForceSensorSetSaveDataFlag(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_recordCount); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_614ForceSensorComputeLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_616AxleSensorConfig(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_idCompany, PyObject *__pyx_v_idDevice, PyObject *__pyx_v_idSoftware, PyObject *__pyx_v_idBus); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_618AxleSensorConfigGet(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_620AxleSensorActivate(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_actFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_622AxleSensorRegWrite(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_devAddr, PyObject *__pyx_v_regHAddr, PyObject *__pyx_v_regLAddr, PyObject *__pyx_v_regNum, PyObject *__pyx_v_data1, PyObject *__pyx_v_data2, PyObject *__pyx_v_isNoBlock); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_624SetOutputResetCtlBoxDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_resetFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_626SetOutputResetCtlBoxAO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_resetFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_628SetOutputResetAxleDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_resetFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_630SetOutputResetAxleAO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_resetFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_632SetOutputResetExtDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_resetFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_634SetOutputResetExtAO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_resetFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_636SetOutputResetSmartToolDO(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_resetFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_638WeaveStartSim(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_640WeaveEndSim(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_642WeaveInspectStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_644WeaveInspectEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_646WeldingSetProcessParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_startCurrent, PyObject *__pyx_v_startVoltage, PyObject *__pyx_v_startTime, PyObject *__pyx_v_weldCurrent, PyObject *__pyx_v_weldVoltage, PyObject *__pyx_v_endCurrent, PyObject *__pyx_v_endVoltage, PyObject *__pyx_v_endTime); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_648WeldingGetProcessParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_650SetAirControlExtDoNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DONum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_652SetArcStartExtDoNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DONum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_654SetWireReverseFeedExtDoNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DONum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_656SetWireForwardFeedExtDoNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DONum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_658SetArcDoneExtDiNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DINum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_660SetWeldReadyExtDiNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DINum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_662SetExtDIWeldBreakOffRecover(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_reWeldDINum, PyObject *__pyx_v_abortWeldDINum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_664SetCollisionDetectionMethod(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_method); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_666SetStaticCollisionOnOff(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_status); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_668SetPowerLimit(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_status, PyObject *__pyx_v_power); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_670SetRobotRealtimeStateSamplePeriod(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_period); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_672GetRobotRealtimeStateSamplePeriod(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_674GetJointDriverTorque(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_676GetJointDriverTemperature(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_678ArcWeldTraceReplayStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_680ArcWeldTraceReplayEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_682MultilayerOffsetTrsfToBase(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_pointo, PyObject *__pyx_v_pointX, PyObject *__pyx_v_pointZ, PyObject *__pyx_v_dx, PyObject *__pyx_v_dz, PyObject *__pyx_v_dry); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_684AngularSpeedStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_ratio); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_686AngularSpeedEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_688SoftwareUpgrade(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_filePath, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_690GetSoftwareUpgradeState(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_692AuxServoSetAcc(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_acc, PyObject *__pyx_v_dec); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_694AuxServoSetEmergencyStopAcc(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_acc, PyObject *__pyx_v_dec); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_696AuxServoGetEmergencyStopAcc(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_698AuxServoGetAcc(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_700GetAxleCommunicationParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_702SetAxleCommunicationParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_baudRate, PyObject *__pyx_v_dataBit, PyObject *__pyx_v_stopBit, PyObject *__pyx_v_verify, PyObject *__pyx_v_timeout, PyObject *__pyx_v_timeoutTimes, PyObject *__pyx_v_period); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_704SetAxleFileType(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_type); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_706SetAxleLuaEnable(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_enable); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_708SetRecoverAxleLuaErr(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_enable); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_710GetAxleLuaEnableStatus(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_712SetAxleLuaEnableDeviceType(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_forceSensorEnable, PyObject *__pyx_v_gripperEnable, PyObject *__pyx_v_IOEnable); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_714GetAxleLuaEnableDeviceType(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_716GetAxleLuaEnableDevice(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_718SetAxleLuaGripperFunc(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_func); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_720GetAxleLuaGripperFunc(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_722SetCtrlOpenLUAName(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id, PyObject *__pyx_v_name); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_724GetCtrlOpenLUAName(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_726LoadCtrlOpenLUA(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_728UnloadCtrlOpenLUA(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_730SetCtrlOpenLuaErrCode(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_id); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_732SlaveFileWrite(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_type, PyObject *__pyx_v_slaveID, PyObject *__pyx_v_fileName); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_734SetSysServoBootMode(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_736AxleLuaUpload(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_filePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_738TractorEnable(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_enable); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_740TractorHoming(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_742TractorMoveL(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_distance, PyObject *__pyx_v_vel); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_744TractorMoveC(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_radio, PyObject *__pyx_v_angle, PyObject *__pyx_v_vel); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_746TractorStop(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_748SetWireSearchExtDIONum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_searchDoneDINum, PyObject *__pyx_v_searchStartDONum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_750SetWeldMachineCtrlModeExtDoNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_DONum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_752SetWeldMachineCtrlMode(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_mode); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_754CloseRPC(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_756SingularAvoidStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_protectMode, PyObject *__pyx_v_minShoulderPos, PyObject *__pyx_v_minElbowPos, PyObject *__pyx_v_minWristPos); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_758SingularAvoidEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_760GetGripperRotNum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_762GetGripperRotSpeed(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_764GetGripperRotTorque(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_766PtpFIRPlanningStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_maxAcc); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_768PtpFIRPlanningEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_770TrajectoryJUpLoad(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_filePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_772TrajectoryJDelete(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_fileName); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_774LinArcFIRPlanningStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_maxAccLin, PyObject *__pyx_v_maxAccDeg, PyObject *__pyx_v_maxJerkLin, PyObject *__pyx_v_maxJerkDeg); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_776LinArcFIRPlanningEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_778ToolTrsfStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_toolNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_780ToolTrsfEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_782ComputeToolCoordWithPoints(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_method, PyObject *__pyx_v_pos); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_784ComputeWObjCoordWithPoints(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_method, PyObject *__pyx_v_pos, PyObject *__pyx_v_refFrame); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_786WeldingSetCheckArcInterruptionParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_checkEnable, PyObject *__pyx_v_arcInterruptTimeLength); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_788WeldingGetCheckArcInterruptionParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_790WeldingSetReWeldAfterBreakOffParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_enable, PyObject *__pyx_v_length, PyObject *__pyx_v_velocity, PyObject *__pyx_v_moveType); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_792WeldingGetReWeldAfterBreakOffParam(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_794WeldingStartReWeldAfterBreakOff(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_796WeldingAbortWeldAfterBreakOff(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_798LaserSensorRecord(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_status, PyObject *__pyx_v_delayMode, PyObject *__pyx_v_delayTime, PyObject *__pyx_v_delayDisExAxisNum, PyObject *__pyx_v_delayDis, PyObject *__pyx_v_sensitivePara, PyObject *__pyx_v_speed); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_800LaserTrackingLaserOn(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weldId); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_802LaserTrackingLaserOff(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_804LaserTrackingTrackOn(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_coordId); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_806LaserTrackingTrackOff(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_808LaserTrackingSearchStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_direction, PyObject *__pyx_v_directionPoint, PyObject *__pyx_v_vel, PyObject *__pyx_v_distance, PyObject *__pyx_v_timeout, PyObject *__pyx_v_posSensorNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_810LaserTrackingSearchStop(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_812WeaveChangeStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_weaveNum); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_814WeaveChangeEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_816LoadTrajectoryLA(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_name, PyObject *__pyx_v_mode, PyObject *__pyx_v_errorLim, PyObject *__pyx_v_type, PyObject *__pyx_v_precision, PyObject *__pyx_v_vamx, PyObject *__pyx_v_amax, PyObject *__pyx_v_jmax); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_818MoveTrajectoryLA(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_820CustomCollisionDetectionStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_flag, PyObject *__pyx_v_jointDetectionThreshould, PyObject *__pyx_v_tcpDetectionThreshould, PyObject *__pyx_v_block); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_822CustomCollisionDetectionEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_824GetRobotRealTimeState(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_826StopMove(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_828AccSmoothStart(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_saveFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_830AccSmoothEnd(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_saveFlag); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_832RbLogDownload(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_savePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_834AllDataSourceDownload(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_savePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_836DataPackageDownload(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_savePath); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_838GetRobotSN(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_840ShutDownRobotOS(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_842ConveyorComDetect(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_timeout); /* proto */
static PyObject *__pyx_pf_5Robot_3RPC_844ConveyorComDetectTrigger(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */
static PyObject *__pyx_tp_new_5Robot___pyx_scope_struct__xmlrpc_timeout(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/
static PyObject *__pyx_tp_new_5Robot___pyx_scope_struct_1_log_call(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/
static __Pyx_CachedCFunction __pyx_umethod_PyDict_Type_get = {0, 0, 0, 0, 0};
/* #### Code section: late_includes ### */
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  PyObject *__pyx_n_s_RPC_SetAxleLuaEnable;
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  PyObject *__pyx_n_s_RPC_SetExtDIWeldBreakOffRecover;
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  PyObject *__pyx_n_s_RPC_SetForceSensorPayload;
  PyObject *__pyx_n_s_RPC_SetForceSensorPayloadCog;
  PyObject *__pyx_n_s_RPC_SetForwardWireFeed;
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  PyObject *__pyx_n_s_RPC_SetRefPointInExAxisEnd;
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  PyObject *__pyx_n_s_RPC_SetSSHScpCmd;
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#endif
/* #### Code section: module_state_traverse ### */
#if CYTHON_USE_MODULE_STATE
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}
#endif
/* #### Code section: module_state_defines ### */
#define __pyx_d __pyx_mstate_global->__pyx_d
#define __pyx_b __pyx_mstate_global->__pyx_b
#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime
#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple
#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes
#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode
#ifdef __Pyx_CyFunction_USED
#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType
#endif
#ifdef __Pyx_FusedFunction_USED
#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType
#endif
#ifdef __Pyx_Generator_USED
#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType
#endif
#ifdef __Pyx_IterableCoroutine_USED
#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType
#endif
#ifdef __Pyx_Coroutine_USED
#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType
#endif
#ifdef __Pyx_Coroutine_USED
#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType
#endif
#if CYTHON_USE_MODULE_STATE
#define __pyx_type_5Robot___pyx_scope_struct__xmlrpc_timeout __pyx_mstate_global->__pyx_type_5Robot___pyx_scope_struct__xmlrpc_timeout
#define __pyx_type_5Robot___pyx_scope_struct_1_log_call __pyx_mstate_global->__pyx_type_5Robot___pyx_scope_struct_1_log_call
#endif
#define __pyx_ptype_5Robot___pyx_scope_struct__xmlrpc_timeout __pyx_mstate_global->__pyx_ptype_5Robot___pyx_scope_struct__xmlrpc_timeout
#define __pyx_ptype_5Robot___pyx_scope_struct_1_log_call __pyx_mstate_global->__pyx_ptype_5Robot___pyx_scope_struct_1_log_call
#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_
#define __pyx_kp_s_02X __pyx_mstate_global->__pyx_kp_s_02X
#define __pyx_kp_u_08d __pyx_mstate_global->__pyx_kp_u_08d
#define __pyx_kp_s_1 __pyx_mstate_global->__pyx_kp_s_1
#define __pyx_kp_u_10d __pyx_mstate_global->__pyx_kp_u_10d
#define __pyx_kp_s_192_168_58_2 __pyx_mstate_global->__pyx_kp_s_192_168_58_2
#define __pyx_kp_s_1_2 __pyx_mstate_global->__pyx_kp_s_1_2
#define __pyx_kp_s_20003 __pyx_mstate_global->__pyx_kp_s_20003
#define __pyx_kp_s_4_2 __pyx_mstate_global->__pyx_kp_s_4_2
#define __pyx_kp_s_5A __pyx_mstate_global->__pyx_kp_s_5A
#define __pyx_n_s_AF_INET __pyx_mstate_global->__pyx_n_s_AF_INET
#define __pyx_n_s_AINum __pyx_mstate_global->__pyx_n_s_AINum
#define __pyx_n_s_AOIndex __pyx_mstate_global->__pyx_n_s_AOIndex
#define __pyx_n_s_AONum __pyx_mstate_global->__pyx_n_s_AONum
#define __pyx_n_s_ARCEnd __pyx_mstate_global->__pyx_n_s_ARCEnd
#define __pyx_n_s_ARCStart __pyx_mstate_global->__pyx_n_s_ARCStart
#define __pyx_n_s_AccSmoothEnd __pyx_mstate_global->__pyx_n_s_AccSmoothEnd
#define __pyx_n_s_AccSmoothStart __pyx_mstate_global->__pyx_n_s_AccSmoothStart
#define __pyx_n_s_ActGripper __pyx_mstate_global->__pyx_n_s_ActGripper
#define __pyx_n_s_AllDataSourceDownload __pyx_mstate_global->__pyx_n_s_AllDataSourceDownload
#define __pyx_n_s_AllDataSourceDownloadPrepare __pyx_mstate_global->__pyx_n_s_AllDataSourceDownloadPrepare
#define __pyx_kp_u_An_error_occurred __pyx_mstate_global->__pyx_kp_u_An_error_occurred
#define __pyx_kp_s_An_error_occurred_during_XML_RPC __pyx_mstate_global->__pyx_kp_s_An_error_occurred_during_XML_RPC
#define __pyx_n_s_AngularSpeedEnd __pyx_mstate_global->__pyx_n_s_AngularSpeedEnd
#define __pyx_n_s_AngularSpeedStart __pyx_mstate_global->__pyx_n_s_AngularSpeedStart
#define __pyx_n_s_ArcWeldTraceControl __pyx_mstate_global->__pyx_n_s_ArcWeldTraceControl
#define __pyx_n_s_ArcWeldTraceExtAIChannelConfig __pyx_mstate_global->__pyx_n_s_ArcWeldTraceExtAIChannelConfig
#define __pyx_n_s_ArcWeldTraceReplayEnd __pyx_mstate_global->__pyx_n_s_ArcWeldTraceReplayEnd
#define __pyx_n_s_ArcWeldTraceReplayStart __pyx_mstate_global->__pyx_n_s_ArcWeldTraceReplayStart
#define __pyx_n_s_AuxServoClearError __pyx_mstate_global->__pyx_n_s_AuxServoClearError
#define __pyx_n_s_AuxServoEnable __pyx_mstate_global->__pyx_n_s_AuxServoEnable
#define __pyx_n_s_AuxServoGetAcc __pyx_mstate_global->__pyx_n_s_AuxServoGetAcc
#define __pyx_n_s_AuxServoGetEmergencyStopAcc __pyx_mstate_global->__pyx_n_s_AuxServoGetEmergencyStopAcc
#define __pyx_n_s_AuxServoGetParam __pyx_mstate_global->__pyx_n_s_AuxServoGetParam
#define __pyx_n_s_AuxServoGetStatus __pyx_mstate_global->__pyx_n_s_AuxServoGetStatus
#define __pyx_n_s_AuxServoHoming __pyx_mstate_global->__pyx_n_s_AuxServoHoming
#define __pyx_n_s_AuxServoSetAcc __pyx_mstate_global->__pyx_n_s_AuxServoSetAcc
#define __pyx_n_s_AuxServoSetControlMode __pyx_mstate_global->__pyx_n_s_AuxServoSetControlMode
#define __pyx_n_s_AuxServoSetEmergencyStopAcc __pyx_mstate_global->__pyx_n_s_AuxServoSetEmergencyStopAcc
#define __pyx_n_s_AuxServoSetParam __pyx_mstate_global->__pyx_n_s_AuxServoSetParam
#define __pyx_n_s_AuxServoSetStatusID __pyx_mstate_global->__pyx_n_s_AuxServoSetStatusID
#define __pyx_n_s_AuxServoSetTargetPos __pyx_mstate_global->__pyx_n_s_AuxServoSetTargetPos
#define __pyx_n_s_AuxServoSetTargetSpeed __pyx_mstate_global->__pyx_n_s_AuxServoSetTargetSpeed
#define __pyx_n_s_AuxServoSetTargetTorque __pyx_mstate_global->__pyx_n_s_AuxServoSetTargetTorque
#define __pyx_n_s_AuxServosetStatusID __pyx_mstate_global->__pyx_n_s_AuxServosetStatusID
#define __pyx_n_s_AxleLuaUpload __pyx_mstate_global->__pyx_n_s_AxleLuaUpload
#define __pyx_n_s_AxleSensorActivate __pyx_mstate_global->__pyx_n_s_AxleSensorActivate
#define __pyx_n_s_AxleSensorConfig __pyx_mstate_global->__pyx_n_s_AxleSensorConfig
#define __pyx_n_s_AxleSensorConfigGet __pyx_mstate_global->__pyx_n_s_AxleSensorConfigGet
#define __pyx_n_s_AxleSensorRegWrite __pyx_mstate_global->__pyx_n_s_AxleSensorRegWrite
#define __pyx_n_s_B __pyx_mstate_global->__pyx_n_s_B
#define __pyx_n_s_BGain __pyx_mstate_global->__pyx_n_s_BGain
#define __pyx_n_s_BUFFER_SIZE __pyx_mstate_global->__pyx_n_s_BUFFER_SIZE
#define __pyx_n_s_BufferedFileHandler __pyx_mstate_global->__pyx_n_s_BufferedFileHandler
#define __pyx_n_s_BufferedFileHandler___init __pyx_mstate_global->__pyx_n_s_BufferedFileHandler___init
#define __pyx_n_s_BufferedFileHandler_emit __pyx_mstate_global->__pyx_n_s_BufferedFileHandler_emit
#define __pyx_kp_u_Calling __pyx_mstate_global->__pyx_kp_u_Calling
#define __pyx_n_s_Circle __pyx_mstate_global->__pyx_n_s_Circle
#define __pyx_n_s_CloseRPC __pyx_mstate_global->__pyx_n_s_CloseRPC
#define __pyx_n_s_ComputeExTCF __pyx_mstate_global->__pyx_n_s_ComputeExTCF
#define __pyx_n_s_ComputeFileMD5 __pyx_mstate_global->__pyx_n_s_ComputeFileMD5
#define __pyx_n_s_ComputePostPick __pyx_mstate_global->__pyx_n_s_ComputePostPick
#define __pyx_n_s_ComputePrePick __pyx_mstate_global->__pyx_n_s_ComputePrePick
#define __pyx_n_s_ComputeTcp4 __pyx_mstate_global->__pyx_n_s_ComputeTcp4
#define __pyx_n_s_ComputeTool __pyx_mstate_global->__pyx_n_s_ComputeTool
#define __pyx_n_s_ComputeToolCoordWithPoints __pyx_mstate_global->__pyx_n_s_ComputeToolCoordWithPoints
#define __pyx_n_s_ComputeWObjCoord __pyx_mstate_global->__pyx_n_s_ComputeWObjCoord
#define __pyx_n_s_ComputeWObjCoordWithPoints __pyx_mstate_global->__pyx_n_s_ComputeWObjCoordWithPoints
#define __pyx_n_s_ConveyorCatchPointComp __pyx_mstate_global->__pyx_n_s_ConveyorCatchPointComp
#define __pyx_n_s_ConveyorComDetect __pyx_mstate_global->__pyx_n_s_ConveyorComDetect
#define __pyx_n_s_ConveyorComDetectTrigger __pyx_mstate_global->__pyx_n_s_ConveyorComDetectTrigger
#define __pyx_n_s_ConveyorGetTrackData __pyx_mstate_global->__pyx_n_s_ConveyorGetTrackData
#define __pyx_n_s_ConveyorIODetect __pyx_mstate_global->__pyx_n_s_ConveyorIODetect
#define __pyx_n_s_ConveyorPointARecord __pyx_mstate_global->__pyx_n_s_ConveyorPointARecord
#define __pyx_n_s_ConveyorPointBRecord __pyx_mstate_global->__pyx_n_s_ConveyorPointBRecord
#define __pyx_n_s_ConveyorPointIORecord __pyx_mstate_global->__pyx_n_s_ConveyorPointIORecord
#define __pyx_n_s_ConveyorRefPointRecord __pyx_mstate_global->__pyx_n_s_ConveyorRefPointRecord
#define __pyx_n_s_ConveyorSetParam __pyx_mstate_global->__pyx_n_s_ConveyorSetParam
#define __pyx_n_s_ConveyorStartEnd __pyx_mstate_global->__pyx_n_s_ConveyorStartEnd
#define __pyx_n_s_ConveyorTrackEnd __pyx_mstate_global->__pyx_n_s_ConveyorTrackEnd
#define __pyx_n_s_ConveyorTrackMoveL __pyx_mstate_global->__pyx_n_s_ConveyorTrackMoveL
#define __pyx_n_s_ConveyorTrackStart __pyx_mstate_global->__pyx_n_s_ConveyorTrackStart
#define __pyx_n_s_CustomCollisionDetectionEnd __pyx_mstate_global->__pyx_n_s_CustomCollisionDetectionEnd
#define __pyx_n_s_CustomCollisionDetectionStart __pyx_mstate_global->__pyx_n_s_CustomCollisionDetectionStart
#define __pyx_n_s_DEBUG __pyx_mstate_global->__pyx_n_s_DEBUG
#define __pyx_n_s_DINum __pyx_mstate_global->__pyx_n_s_DINum
#define __pyx_n_s_DONum __pyx_mstate_global->__pyx_n_s_DONum
#define __pyx_n_s_DataPackageDownload __pyx_mstate_global->__pyx_n_s_DataPackageDownload
#define __pyx_n_s_DataPackageDownloadPrepare __pyx_mstate_global->__pyx_n_s_DataPackageDownloadPrepare
#define __pyx_n_s_DragTeachSwitch __pyx_mstate_global->__pyx_n_s_DragTeachSwitch
#define __pyx_n_s_ERROR __pyx_mstate_global->__pyx_n_s_ERROR
#define __pyx_n_s_ERROR_RECONN __pyx_mstate_global->__pyx_n_s_ERROR_RECONN
#define __pyx_n_s_ERR_DOWN_LOAD_FILE_CHECK_FAILED __pyx_mstate_global->__pyx_n_s_ERR_DOWN_LOAD_FILE_CHECK_FAILED
#define __pyx_n_s_ERR_DOWN_LOAD_FILE_FAILED __pyx_mstate_global->__pyx_n_s_ERR_DOWN_LOAD_FILE_FAILED
#define __pyx_n_s_ERR_DOWN_LOAD_FILE_WRITE_FAILED __pyx_mstate_global->__pyx_n_s_ERR_DOWN_LOAD_FILE_WRITE_FAILED
#define __pyx_n_s_ERR_FILE_NAME __pyx_mstate_global->__pyx_n_s_ERR_FILE_NAME
#define __pyx_n_s_ERR_FILE_OPEN_FAILED __pyx_mstate_global->__pyx_n_s_ERR_FILE_OPEN_FAILED
#define __pyx_n_s_ERR_FILE_TOO_LARGE __pyx_mstate_global->__pyx_n_s_ERR_FILE_TOO_LARGE
#define __pyx_n_s_ERR_NOT_FOUND_LUA_FILE __pyx_mstate_global->__pyx_n_s_ERR_NOT_FOUND_LUA_FILE
#define __pyx_n_s_ERR_OTHER __pyx_mstate_global->__pyx_n_s_ERR_OTHER
#define __pyx_n_s_ERR_POINTTABLE_NOTFOUND __pyx_mstate_global->__pyx_n_s_ERR_POINTTABLE_NOTFOUND
#define __pyx_n_s_ERR_RPC_ERROR __pyx_mstate_global->__pyx_n_s_ERR_RPC_ERROR
#define __pyx_n_s_ERR_SAVE_FILE_PATH_NOT_FOUND __pyx_mstate_global->__pyx_n_s_ERR_SAVE_FILE_PATH_NOT_FOUND
#define __pyx_n_s_ERR_SOCKET_COM_FAILED __pyx_mstate_global->__pyx_n_s_ERR_SOCKET_COM_FAILED
#define __pyx_n_s_ERR_SOCKET_RECV_FAILED __pyx_mstate_global->__pyx_n_s_ERR_SOCKET_RECV_FAILED
#define __pyx_n_s_ERR_SOCKET_SEND_FAILED __pyx_mstate_global->__pyx_n_s_ERR_SOCKET_SEND_FAILED
#define __pyx_n_s_ERR_SUCCESS __pyx_mstate_global->__pyx_n_s_ERR_SUCCESS
#define __pyx_n_s_ERR_UPLOAD_FILE_ERROR __pyx_mstate_global->__pyx_n_s_ERR_UPLOAD_FILE_ERROR
#define __pyx_n_s_ERR_UPLOAD_FILE_NOT_FOUND __pyx_mstate_global->__pyx_n_s_ERR_UPLOAD_FILE_NOT_FOUND
#define __pyx_n_s_EXT_AXIS_STATUS __pyx_mstate_global->__pyx_n_s_EXT_AXIS_STATUS
#define __pyx_n_s_EmergencyStop __pyx_mstate_global->__pyx_n_s_EmergencyStop
#define __pyx_n_s_EndForceDragControl __pyx_mstate_global->__pyx_n_s_EndForceDragControl
#define __pyx_kp_s_Error_Log_handler_not_created_Lo __pyx_mstate_global->__pyx_kp_s_Error_Log_handler_not_created_Lo
#define __pyx_kp_u_Error_occurred_returned __pyx_mstate_global->__pyx_kp_u_Error_occurred_returned
#define __pyx_n_s_Event __pyx_mstate_global->__pyx_n_s_Event
#define __pyx_n_s_ExtAxisActiveECoordSys __pyx_mstate_global->__pyx_n_s_ExtAxisActiveECoordSys
#define __pyx_n_s_ExtAxisComputeECoordSys __pyx_mstate_global->__pyx_n_s_ExtAxisComputeECoordSys
#define __pyx_n_s_ExtAxisMove __pyx_mstate_global->__pyx_n_s_ExtAxisMove
#define __pyx_n_s_ExtAxisMoveJ __pyx_mstate_global->__pyx_n_s_ExtAxisMoveJ
#define __pyx_n_s_ExtAxisParamConfig __pyx_mstate_global->__pyx_n_s_ExtAxisParamConfig
#define __pyx_n_s_ExtAxisServoOn __pyx_mstate_global->__pyx_n_s_ExtAxisServoOn
#define __pyx_n_s_ExtAxisSetHoming __pyx_mstate_global->__pyx_n_s_ExtAxisSetHoming
#define __pyx_n_s_ExtAxisSetRefPoint __pyx_mstate_global->__pyx_n_s_ExtAxisSetRefPoint
#define __pyx_n_s_ExtAxisStartJog __pyx_mstate_global->__pyx_n_s_ExtAxisStartJog
#define __pyx_n_s_ExtAxisStopJog __pyx_mstate_global->__pyx_n_s_ExtAxisStopJog
#define __pyx_n_s_ExtAxisSyncMoveC __pyx_mstate_global->__pyx_n_s_ExtAxisSyncMoveC
#define __pyx_n_s_ExtAxisSyncMoveJ __pyx_mstate_global->__pyx_n_s_ExtAxisSyncMoveJ
#define __pyx_n_s_ExtAxisSyncMoveL __pyx_mstate_global->__pyx_n_s_ExtAxisSyncMoveL
#define __pyx_n_s_ExtDevGetUDPComParam __pyx_mstate_global->__pyx_n_s_ExtDevGetUDPComParam
#define __pyx_n_s_ExtDevLoadUDPDriver __pyx_mstate_global->__pyx_n_s_ExtDevLoadUDPDriver
#define __pyx_n_s_ExtDevSetUDPComParam __pyx_mstate_global->__pyx_n_s_ExtDevSetUDPComParam
#define __pyx_n_s_ExtDevUDPClientComClose __pyx_mstate_global->__pyx_n_s_ExtDevUDPClientComClose
#define __pyx_n_s_ExtDevUDPClientComReset __pyx_mstate_global->__pyx_n_s_ExtDevUDPClientComReset
#define __pyx_n_s_ExtDevUnloadUDPDriver __pyx_mstate_global->__pyx_n_s_ExtDevUnloadUDPDriver
#define __pyx_n_s_F __pyx_mstate_global->__pyx_n_s_F
#define __pyx_n_s_FAIL __pyx_mstate_global->__pyx_n_s_FAIL
#define __pyx_n_s_FT_Activate __pyx_mstate_global->__pyx_n_s_FT_Activate
#define __pyx_n_s_FT_CalCenterEnd __pyx_mstate_global->__pyx_n_s_FT_CalCenterEnd
#define __pyx_n_s_FT_CalCenterStart __pyx_mstate_global->__pyx_n_s_FT_CalCenterStart
#define __pyx_n_s_FT_ComplianceStart __pyx_mstate_global->__pyx_n_s_FT_ComplianceStart
#define __pyx_n_s_FT_ComplianceStop __pyx_mstate_global->__pyx_n_s_FT_ComplianceStop
#define __pyx_n_s_FT_Control __pyx_mstate_global->__pyx_n_s_FT_Control
#define __pyx_n_s_FT_FindSurface __pyx_mstate_global->__pyx_n_s_FT_FindSurface
#define __pyx_n_s_FT_GetConfig __pyx_mstate_global->__pyx_n_s_FT_GetConfig
#define __pyx_n_s_FT_GetForceTorqueOrigin __pyx_mstate_global->__pyx_n_s_FT_GetForceTorqueOrigin
#define __pyx_n_s_FT_GetForceTorqueRCS __pyx_mstate_global->__pyx_n_s_FT_GetForceTorqueRCS
#define __pyx_n_s_FT_Guard __pyx_mstate_global->__pyx_n_s_FT_Guard
#define __pyx_n_s_FT_LinInsertion __pyx_mstate_global->__pyx_n_s_FT_LinInsertion
#define __pyx_n_s_FT_PdCogIdenCompute __pyx_mstate_global->__pyx_n_s_FT_PdCogIdenCompute
#define __pyx_n_s_FT_PdCogIdenRecord __pyx_mstate_global->__pyx_n_s_FT_PdCogIdenRecord
#define __pyx_n_s_FT_PdIdenCompute __pyx_mstate_global->__pyx_n_s_FT_PdIdenCompute
#define __pyx_n_s_FT_PdIdenRecord __pyx_mstate_global->__pyx_n_s_FT_PdIdenRecord
#define __pyx_n_s_FT_RotInsertion __pyx_mstate_global->__pyx_n_s_FT_RotInsertion
#define __pyx_n_s_FT_SetConfig __pyx_mstate_global->__pyx_n_s_FT_SetConfig
#define __pyx_n_s_FT_SetRCS __pyx_mstate_global->__pyx_n_s_FT_SetRCS
#define __pyx_n_s_FT_SetZero __pyx_mstate_global->__pyx_n_s_FT_SetZero
#define __pyx_n_s_FT_SpiralSearch __pyx_mstate_global->__pyx_n_s_FT_SpiralSearch
#define __pyx_n_s_FileDelete __pyx_mstate_global->__pyx_n_s_FileDelete
#define __pyx_n_s_FileDelete_2 __pyx_mstate_global->__pyx_n_s_FileDelete_2
#define __pyx_n_s_FileDownLoad __pyx_mstate_global->__pyx_n_s_FileDownLoad
#define __pyx_n_s_FileDownload __pyx_mstate_global->__pyx_n_s_FileDownload
#define __pyx_n_s_FileUpLoad __pyx_mstate_global->__pyx_n_s_FileUpLoad
#define __pyx_n_s_FileUpload __pyx_mstate_global->__pyx_n_s_FileUpload
#define __pyx_kp_s_Files_larger_than_2_MB_are_not_s __pyx_mstate_global->__pyx_kp_s_Files_larger_than_2_MB_are_not_s
#define __pyx_kp_s_Files_larger_than_500_MB_are_not __pyx_mstate_global->__pyx_kp_s_Files_larger_than_500_MB_are_not
#define __pyx_n_s_Fmax __pyx_mstate_global->__pyx_n_s_Fmax
#define __pyx_n_s_ForceAndJointImpedanceStartStop __pyx_mstate_global->__pyx_n_s_ForceAndJointImpedanceStartStop
#define __pyx_n_s_ForceSensorAutoComputeLoad __pyx_mstate_global->__pyx_n_s_ForceSensorAutoComputeLoad
#define __pyx_n_s_ForceSensorComputeLoad __pyx_mstate_global->__pyx_n_s_ForceSensorComputeLoad
#define __pyx_n_s_ForceSensorSetSaveDataFlag __pyx_mstate_global->__pyx_n_s_ForceSensorSetSaveDataFlag
#define __pyx_n_s_Formatter __pyx_mstate_global->__pyx_n_s_Formatter
#define __pyx_n_s_FrictionCompensationOnOff __pyx_mstate_global->__pyx_n_s_FrictionCompensationOnOff
#define __pyx_n_s_GetAI __pyx_mstate_global->__pyx_n_s_GetAI
#define __pyx_n_s_GetActualJointAccDegree __pyx_mstate_global->__pyx_n_s_GetActualJointAccDegree
#define __pyx_n_s_GetActualJointPosDegree __pyx_mstate_global->__pyx_n_s_GetActualJointPosDegree
#define __pyx_n_s_GetActualJointPosRadian __pyx_mstate_global->__pyx_n_s_GetActualJointPosRadian
#define __pyx_n_s_GetActualJointSpeedsDegree __pyx_mstate_global->__pyx_n_s_GetActualJointSpeedsDegree
#define __pyx_n_s_GetActualTCPCompositeSpeed __pyx_mstate_global->__pyx_n_s_GetActualTCPCompositeSpeed
#define __pyx_n_s_GetActualTCPNum __pyx_mstate_global->__pyx_n_s_GetActualTCPNum
#define __pyx_n_s_GetActualTCPPose __pyx_mstate_global->__pyx_n_s_GetActualTCPPose
#define __pyx_n_s_GetActualTCPSpeed __pyx_mstate_global->__pyx_n_s_GetActualTCPSpeed
#define __pyx_n_s_GetActualToolFlangePose __pyx_mstate_global->__pyx_n_s_GetActualToolFlangePose
#define __pyx_n_s_GetActualWObjNum __pyx_mstate_global->__pyx_n_s_GetActualWObjNum
#define __pyx_n_s_GetAuxAI __pyx_mstate_global->__pyx_n_s_GetAuxAI
#define __pyx_n_s_GetAuxDI __pyx_mstate_global->__pyx_n_s_GetAuxDI
#define __pyx_n_s_GetAxleCommunicationParam __pyx_mstate_global->__pyx_n_s_GetAxleCommunicationParam
#define __pyx_n_s_GetAxleLuaEnableDevice __pyx_mstate_global->__pyx_n_s_GetAxleLuaEnableDevice
#define __pyx_n_s_GetAxleLuaEnableDeviceType __pyx_mstate_global->__pyx_n_s_GetAxleLuaEnableDeviceType
#define __pyx_kp_s_GetAxleLuaEnableDevice_fail __pyx_mstate_global->__pyx_kp_s_GetAxleLuaEnableDevice_fail
#define __pyx_n_s_GetAxleLuaEnableStatus __pyx_mstate_global->__pyx_n_s_GetAxleLuaEnableStatus
#define __pyx_n_s_GetAxleLuaGripperFunc __pyx_mstate_global->__pyx_n_s_GetAxleLuaGripperFunc
#define __pyx_n_s_GetAxlePointRecordBtnState __pyx_mstate_global->__pyx_n_s_GetAxlePointRecordBtnState
#define __pyx_n_s_GetControllerIP __pyx_mstate_global->__pyx_n_s_GetControllerIP
#define __pyx_n_s_GetCtrlOpenLUAName __pyx_mstate_global->__pyx_n_s_GetCtrlOpenLUAName
#define __pyx_kp_s_GetCtrlOpenLUAName_fail __pyx_mstate_global->__pyx_kp_s_GetCtrlOpenLUAName_fail
#define __pyx_n_s_GetCurrentLine __pyx_mstate_global->__pyx_n_s_GetCurrentLine
#define __pyx_n_s_GetDHCompensation __pyx_mstate_global->__pyx_n_s_GetDHCompensation
#define __pyx_n_s_GetDI __pyx_mstate_global->__pyx_n_s_GetDI
#define __pyx_n_s_GetDO __pyx_mstate_global->__pyx_n_s_GetDO
#define __pyx_n_s_GetDefaultTransVel __pyx_mstate_global->__pyx_n_s_GetDefaultTransVel
#define __pyx_n_s_GetExAxisDriverConfig __pyx_mstate_global->__pyx_n_s_GetExAxisDriverConfig
#define __pyx_n_s_GetExDevProtocol __pyx_mstate_global->__pyx_n_s_GetExDevProtocol
#define __pyx_n_s_GetForceAndTorqueDragState __pyx_mstate_global->__pyx_n_s_GetForceAndTorqueDragState
#define __pyx_n_s_GetForceSensorPayload __pyx_mstate_global->__pyx_n_s_GetForceSensorPayload
#define __pyx_n_s_GetForceSensorPayloadCog __pyx_mstate_global->__pyx_n_s_GetForceSensorPayloadCog
#define __pyx_n_s_GetForwardKin __pyx_mstate_global->__pyx_n_s_GetForwardKin
#define __pyx_n_s_GetGripperConfig __pyx_mstate_global->__pyx_n_s_GetGripperConfig
#define __pyx_n_s_GetGripperMotionDone __pyx_mstate_global->__pyx_n_s_GetGripperMotionDone
#define __pyx_n_s_GetGripperRotNum __pyx_mstate_global->__pyx_n_s_GetGripperRotNum
#define __pyx_n_s_GetGripperRotSpeed __pyx_mstate_global->__pyx_n_s_GetGripperRotSpeed
#define __pyx_n_s_GetGripperRotTorque __pyx_mstate_global->__pyx_n_s_GetGripperRotTorque
#define __pyx_n_s_GetInverseKin __pyx_mstate_global->__pyx_n_s_GetInverseKin
#define __pyx_n_s_GetInverseKinHasSolution __pyx_mstate_global->__pyx_n_s_GetInverseKinHasSolution
#define __pyx_n_s_GetInverseKinRef __pyx_mstate_global->__pyx_n_s_GetInverseKinRef
#define __pyx_n_s_GetJointDriverTemperature __pyx_mstate_global->__pyx_n_s_GetJointDriverTemperature
#define __pyx_n_s_GetJointDriverTorque __pyx_mstate_global->__pyx_n_s_GetJointDriverTorque
#define __pyx_n_s_GetJointSoftLimitDeg __pyx_mstate_global->__pyx_n_s_GetJointSoftLimitDeg
#define __pyx_n_s_GetJointTorques __pyx_mstate_global->__pyx_n_s_GetJointTorques
#define __pyx_n_s_GetLoadedProgram __pyx_mstate_global->__pyx_n_s_GetLoadedProgram
#define __pyx_n_s_GetLuaList __pyx_mstate_global->__pyx_n_s_GetLuaList
#define __pyx_n_s_GetMotionQueueLength __pyx_mstate_global->__pyx_n_s_GetMotionQueueLength
#define __pyx_n_s_GetProgramState __pyx_mstate_global->__pyx_n_s_GetProgramState
#define __pyx_n_s_GetRobotCurJointsConfig __pyx_mstate_global->__pyx_n_s_GetRobotCurJointsConfig
#define __pyx_n_s_GetRobotEmergencyStopState __pyx_mstate_global->__pyx_n_s_GetRobotEmergencyStopState
#define __pyx_n_s_GetRobotErrorCode __pyx_mstate_global->__pyx_n_s_GetRobotErrorCode
#define __pyx_n_s_GetRobotInstallAngle __pyx_mstate_global->__pyx_n_s_GetRobotInstallAngle
#define __pyx_n_s_GetRobotMotionDone __pyx_mstate_global->__pyx_n_s_GetRobotMotionDone
#define __pyx_n_s_GetRobotRealTimeState __pyx_mstate_global->__pyx_n_s_GetRobotRealTimeState
#define __pyx_n_s_GetRobotRealtimeStateSamplePerio __pyx_mstate_global->__pyx_n_s_GetRobotRealtimeStateSamplePerio
#define __pyx_n_s_GetRobotSN __pyx_mstate_global->__pyx_n_s_GetRobotSN
#define __pyx_n_s_GetRobotTeachingPoint __pyx_mstate_global->__pyx_n_s_GetRobotTeachingPoint
#define __pyx_n_s_GetSDKComState __pyx_mstate_global->__pyx_n_s_GetSDKComState
#define __pyx_n_s_GetSDKVersion __pyx_mstate_global->__pyx_n_s_GetSDKVersion
#define __pyx_n_s_GetSSHKeygen __pyx_mstate_global->__pyx_n_s_GetSSHKeygen
#define __pyx_n_s_GetSafetyCode __pyx_mstate_global->__pyx_n_s_GetSafetyCode
#define __pyx_n_s_GetSafetyStopState __pyx_mstate_global->__pyx_n_s_GetSafetyStopState
#define __pyx_n_s_GetSegWeldDisDir __pyx_mstate_global->__pyx_n_s_GetSegWeldDisDir
#define __pyx_n_s_GetSegmentWeldPoint __pyx_mstate_global->__pyx_n_s_GetSegmentWeldPoint
#define __pyx_kp_s_GetSegmentWeldPoint_fail __pyx_mstate_global->__pyx_kp_s_GetSegmentWeldPoint_fail
#define __pyx_n_s_GetSlaveFirmVersion __pyx_mstate_global->__pyx_n_s_GetSlaveFirmVersion
#define __pyx_n_s_GetSlaveHardVersion __pyx_mstate_global->__pyx_n_s_GetSlaveHardVersion
#define __pyx_n_s_GetSoftwareUpgradeState __pyx_mstate_global->__pyx_n_s_GetSoftwareUpgradeState
#define __pyx_n_s_GetSoftwareVersion __pyx_mstate_global->__pyx_n_s_GetSoftwareVersion
#define __pyx_n_s_GetSysVarValue __pyx_mstate_global->__pyx_n_s_GetSysVarValue
#define __pyx_n_s_GetSystemClock __pyx_mstate_global->__pyx_n_s_GetSystemClock
#define __pyx_n_s_GetTCPOffset __pyx_mstate_global->__pyx_n_s_GetTCPOffset
#define __pyx_n_s_GetTPDStartPose __pyx_mstate_global->__pyx_n_s_GetTPDStartPose
#define __pyx_n_s_GetTargetPayload __pyx_mstate_global->__pyx_n_s_GetTargetPayload
#define __pyx_n_s_GetTargetPayloadCog __pyx_mstate_global->__pyx_n_s_GetTargetPayloadCog
#define __pyx_n_s_GetTargetTCPCompositeSpeed __pyx_mstate_global->__pyx_n_s_GetTargetTCPCompositeSpeed
#define __pyx_n_s_GetTargetTCPSpeed __pyx_mstate_global->__pyx_n_s_GetTargetTCPSpeed
#define __pyx_n_s_GetToolAI __pyx_mstate_global->__pyx_n_s_GetToolAI
#define __pyx_n_s_GetToolDI __pyx_mstate_global->__pyx_n_s_GetToolDI
#define __pyx_n_s_GetToolDO __pyx_mstate_global->__pyx_n_s_GetToolDO
#define __pyx_n_s_GetTrajectoryPointNum __pyx_mstate_global->__pyx_n_s_GetTrajectoryPointNum
#define __pyx_n_s_GetTrajectoryStartPose __pyx_mstate_global->__pyx_n_s_GetTrajectoryStartPose
#define __pyx_n_s_GetWObjOffset __pyx_mstate_global->__pyx_n_s_GetWObjOffset
#define __pyx_n_s_GetWireSearchOffset __pyx_mstate_global->__pyx_n_s_GetWireSearchOffset
#define __pyx_n_s_III __pyx_mstate_global->__pyx_n_s_III
#define __pyx_n_s_ILC_sign __pyx_mstate_global->__pyx_n_s_ILC_sign
#define __pyx_n_s_INFO __pyx_mstate_global->__pyx_n_s_INFO
#define __pyx_n_s_IOEnable __pyx_mstate_global->__pyx_n_s_IOEnable
#define __pyx_n_s_ImmStopJOG __pyx_mstate_global->__pyx_n_s_ImmStopJOG
#define __pyx_n_s_IsInDragTeach __pyx_mstate_global->__pyx_n_s_IsInDragTeach
#define __pyx_n_s_JointOverSpeedProtectEnd __pyx_mstate_global->__pyx_n_s_JointOverSpeedProtectEnd
#define __pyx_n_s_JointOverSpeedProtectStart __pyx_mstate_global->__pyx_n_s_JointOverSpeedProtectStart
#define __pyx_n_s_K __pyx_mstate_global->__pyx_n_s_K
#define __pyx_n_s_KGain __pyx_mstate_global->__pyx_n_s_KGain
#define __pyx_n_s_LaserSensorRecord __pyx_mstate_global->__pyx_n_s_LaserSensorRecord
#define __pyx_n_s_LaserTrackingLaserOff __pyx_mstate_global->__pyx_n_s_LaserTrackingLaserOff
#define __pyx_n_s_LaserTrackingLaserOn __pyx_mstate_global->__pyx_n_s_LaserTrackingLaserOn
#define __pyx_n_s_LaserTrackingSearchStart __pyx_mstate_global->__pyx_n_s_LaserTrackingSearchStart
#define __pyx_n_s_LaserTrackingSearchStop __pyx_mstate_global->__pyx_n_s_LaserTrackingSearchStop
#define __pyx_n_s_LaserTrackingTrackOff __pyx_mstate_global->__pyx_n_s_LaserTrackingTrackOff
#define __pyx_n_s_LaserTrackingTrackOn __pyx_mstate_global->__pyx_n_s_LaserTrackingTrackOn
#define __pyx_n_s_LinArcFIRPlanningEnd __pyx_mstate_global->__pyx_n_s_LinArcFIRPlanningEnd
#define __pyx_n_s_LinArcFIRPlanningStart __pyx_mstate_global->__pyx_n_s_LinArcFIRPlanningStart
#define __pyx_n_s_LoadCtrlOpenLUA __pyx_mstate_global->__pyx_n_s_LoadCtrlOpenLUA
#define __pyx_n_s_LoadDefaultProgConfig __pyx_mstate_global->__pyx_n_s_LoadDefaultProgConfig
#define __pyx_n_s_LoadIdentifyDynFilterInit __pyx_mstate_global->__pyx_n_s_LoadIdentifyDynFilterInit
#define __pyx_n_s_LoadIdentifyDynVarInit __pyx_mstate_global->__pyx_n_s_LoadIdentifyDynVarInit
#define __pyx_n_s_LoadIdentifyGetResult __pyx_mstate_global->__pyx_n_s_LoadIdentifyGetResult
#define __pyx_n_s_LoadIdentifyMain __pyx_mstate_global->__pyx_n_s_LoadIdentifyMain
#define __pyx_n_s_LoadTPD __pyx_mstate_global->__pyx_n_s_LoadTPD
#define __pyx_n_s_LoadTrajectoryJ __pyx_mstate_global->__pyx_n_s_LoadTrajectoryJ
#define __pyx_n_s_LoadTrajectoryLA __pyx_mstate_global->__pyx_n_s_LoadTrajectoryLA
#define __pyx_n_s_Lock __pyx_mstate_global->__pyx_n_s_Lock
#define __pyx_n_s_LogWriterThread __pyx_mstate_global->__pyx_n_s_LogWriterThread
#define __pyx_n_s_LogWriterThread___init __pyx_mstate_global->__pyx_n_s_LogWriterThread___init
#define __pyx_n_s_LogWriterThread_run __pyx_mstate_global->__pyx_n_s_LogWriterThread_run
#define __pyx_n_s_LoggerInit __pyx_mstate_global->__pyx_n_s_LoggerInit
#define __pyx_n_s_LuaDelete __pyx_mstate_global->__pyx_n_s_LuaDelete
#define __pyx_n_s_LuaDownLoad __pyx_mstate_global->__pyx_n_s_LuaDownLoad
#define __pyx_n_s_LuaUpLoadUpdate __pyx_mstate_global->__pyx_n_s_LuaUpLoadUpdate
#define __pyx_n_s_LuaUpload __pyx_mstate_global->__pyx_n_s_LuaUpload
#define __pyx_n_s_M __pyx_mstate_global->__pyx_n_s_M
#define __pyx_n_s_MAX_UPLOAD_FILE_SIZE __pyx_mstate_global->__pyx_n_s_MAX_UPLOAD_FILE_SIZE
#define __pyx_n_s_Mode __pyx_mstate_global->__pyx_n_s_Mode
#define __pyx_n_s_MoveAOStart __pyx_mstate_global->__pyx_n_s_MoveAOStart
#define __pyx_n_s_MoveAOStop __pyx_mstate_global->__pyx_n_s_MoveAOStop
#define __pyx_n_s_MoveC __pyx_mstate_global->__pyx_n_s_MoveC
#define __pyx_n_s_MoveCart __pyx_mstate_global->__pyx_n_s_MoveCart
#define __pyx_n_s_MoveGripper __pyx_mstate_global->__pyx_n_s_MoveGripper
#define __pyx_n_s_MoveJ __pyx_mstate_global->__pyx_n_s_MoveJ
#define __pyx_n_s_MoveL __pyx_mstate_global->__pyx_n_s_MoveL
#define __pyx_n_s_MoveTPD __pyx_mstate_global->__pyx_n_s_MoveTPD
#define __pyx_n_s_MoveToolAOStart __pyx_mstate_global->__pyx_n_s_MoveToolAOStart
#define __pyx_n_s_MoveToolAOStop __pyx_mstate_global->__pyx_n_s_MoveToolAOStop
#define __pyx_n_s_MoveTrajectoryJ __pyx_mstate_global->__pyx_n_s_MoveTrajectoryJ
#define __pyx_n_s_MoveTrajectoryLA __pyx_mstate_global->__pyx_n_s_MoveTrajectoryLA
#define __pyx_n_s_MultilayerOffsetTrsfToBase __pyx_mstate_global->__pyx_n_s_MultilayerOffsetTrsfToBase
#define __pyx_n_s_NewSpiral __pyx_mstate_global->__pyx_n_s_NewSpiral
#define __pyx_n_s_NewSplineEnd __pyx_mstate_global->__pyx_n_s_NewSplineEnd
#define __pyx_n_s_NewSplinePoint __pyx_mstate_global->__pyx_n_s_NewSplinePoint
#define __pyx_n_s_NewSplineStart __pyx_mstate_global->__pyx_n_s_NewSplineStart
#define __pyx_n_s_PauseMotion __pyx_mstate_global->__pyx_n_s_PauseMotion
#define __pyx_n_s_PointTableDownLoad __pyx_mstate_global->__pyx_n_s_PointTableDownLoad
#define __pyx_n_s_PointTableDownload __pyx_mstate_global->__pyx_n_s_PointTableDownload
#define __pyx_n_s_PointTableSwitch __pyx_mstate_global->__pyx_n_s_PointTableSwitch
#define __pyx_n_s_PointTableUpLoad __pyx_mstate_global->__pyx_n_s_PointTableUpLoad
#define __pyx_n_s_PointTableUpdateLua __pyx_mstate_global->__pyx_n_s_PointTableUpdateLua
#define __pyx_n_s_PointTableUpload __pyx_mstate_global->__pyx_n_s_PointTableUpload
#define __pyx_kp_s_PointTable_not_Found __pyx_mstate_global->__pyx_kp_s_PointTable_not_Found
#define __pyx_n_s_PointsOffsetDisable __pyx_mstate_global->__pyx_n_s_PointsOffsetDisable
#define __pyx_n_s_PointsOffsetEnable __pyx_mstate_global->__pyx_n_s_PointsOffsetEnable
#define __pyx_n_s_PositionorComputeECoordSys __pyx_mstate_global->__pyx_n_s_PositionorComputeECoordSys
#define __pyx_n_s_PositionorSetRefPoint __pyx_mstate_global->__pyx_n_s_PositionorSetRefPoint
#define __pyx_n_s_ProgramLoad __pyx_mstate_global->__pyx_n_s_ProgramLoad
#define __pyx_n_s_ProgramPause __pyx_mstate_global->__pyx_n_s_ProgramPause
#define __pyx_n_s_ProgramResume __pyx_mstate_global->__pyx_n_s_ProgramResume
#define __pyx_n_s_ProgramRun __pyx_mstate_global->__pyx_n_s_ProgramRun
#define __pyx_n_s_ProgramStop __pyx_mstate_global->__pyx_n_s_ProgramStop
#define __pyx_n_s_PtpFIRPlanningEnd __pyx_mstate_global->__pyx_n_s_PtpFIRPlanningEnd
#define __pyx_n_s_PtpFIRPlanningStart __pyx_mstate_global->__pyx_n_s_PtpFIRPlanningStart
#define __pyx_n_s_Queue __pyx_mstate_global->__pyx_n_s_Queue
#define __pyx_n_s_ROBOT_AUX_STATE __pyx_mstate_global->__pyx_n_s_ROBOT_AUX_STATE
#define __pyx_n_s_ROBOT_REALTIME_PORT __pyx_mstate_global->__pyx_n_s_ROBOT_REALTIME_PORT
#define __pyx_n_s_RPC __pyx_mstate_global->__pyx_n_s_RPC
#define __pyx_n_s_RPCLogger __pyx_mstate_global->__pyx_n_s_RPCLogger
#define __pyx_n_s_RPC_ARCEnd __pyx_mstate_global->__pyx_n_s_RPC_ARCEnd
#define __pyx_n_s_RPC_ARCStart __pyx_mstate_global->__pyx_n_s_RPC_ARCStart
#define __pyx_n_s_RPC_AccSmoothEnd __pyx_mstate_global->__pyx_n_s_RPC_AccSmoothEnd
#define __pyx_n_s_RPC_AccSmoothStart __pyx_mstate_global->__pyx_n_s_RPC_AccSmoothStart
#define __pyx_n_s_RPC_ActGripper __pyx_mstate_global->__pyx_n_s_RPC_ActGripper
#define __pyx_n_s_RPC_AllDataSourceDownload __pyx_mstate_global->__pyx_n_s_RPC_AllDataSourceDownload
#define __pyx_n_s_RPC_AngularSpeedEnd __pyx_mstate_global->__pyx_n_s_RPC_AngularSpeedEnd
#define __pyx_n_s_RPC_AngularSpeedStart __pyx_mstate_global->__pyx_n_s_RPC_AngularSpeedStart
#define __pyx_n_s_RPC_ArcWeldTraceControl __pyx_mstate_global->__pyx_n_s_RPC_ArcWeldTraceControl
#define __pyx_n_s_RPC_ArcWeldTraceExtAIChannelConf __pyx_mstate_global->__pyx_n_s_RPC_ArcWeldTraceExtAIChannelConf
#define __pyx_n_s_RPC_ArcWeldTraceReplayEnd __pyx_mstate_global->__pyx_n_s_RPC_ArcWeldTraceReplayEnd
#define __pyx_n_s_RPC_ArcWeldTraceReplayStart __pyx_mstate_global->__pyx_n_s_RPC_ArcWeldTraceReplayStart
#define __pyx_n_s_RPC_AuxServoClearError __pyx_mstate_global->__pyx_n_s_RPC_AuxServoClearError
#define __pyx_n_s_RPC_AuxServoEnable __pyx_mstate_global->__pyx_n_s_RPC_AuxServoEnable
#define __pyx_n_s_RPC_AuxServoGetAcc __pyx_mstate_global->__pyx_n_s_RPC_AuxServoGetAcc
#define __pyx_n_s_RPC_AuxServoGetEmergencyStopAcc __pyx_mstate_global->__pyx_n_s_RPC_AuxServoGetEmergencyStopAcc
#define __pyx_n_s_RPC_AuxServoGetParam __pyx_mstate_global->__pyx_n_s_RPC_AuxServoGetParam
#define __pyx_n_s_RPC_AuxServoGetStatus __pyx_mstate_global->__pyx_n_s_RPC_AuxServoGetStatus
#define __pyx_n_s_RPC_AuxServoHoming __pyx_mstate_global->__pyx_n_s_RPC_AuxServoHoming
#define __pyx_n_s_RPC_AuxServoSetAcc __pyx_mstate_global->__pyx_n_s_RPC_AuxServoSetAcc
#define __pyx_n_s_RPC_AuxServoSetControlMode __pyx_mstate_global->__pyx_n_s_RPC_AuxServoSetControlMode
#define __pyx_n_s_RPC_AuxServoSetEmergencyStopAcc __pyx_mstate_global->__pyx_n_s_RPC_AuxServoSetEmergencyStopAcc
#define __pyx_n_s_RPC_AuxServoSetParam __pyx_mstate_global->__pyx_n_s_RPC_AuxServoSetParam
#define __pyx_n_s_RPC_AuxServoSetTargetPos __pyx_mstate_global->__pyx_n_s_RPC_AuxServoSetTargetPos
#define __pyx_n_s_RPC_AuxServoSetTargetSpeed __pyx_mstate_global->__pyx_n_s_RPC_AuxServoSetTargetSpeed
#define __pyx_n_s_RPC_AuxServoSetTargetTorque __pyx_mstate_global->__pyx_n_s_RPC_AuxServoSetTargetTorque
#define __pyx_n_s_RPC_AuxServosetStatusID __pyx_mstate_global->__pyx_n_s_RPC_AuxServosetStatusID
#define __pyx_n_s_RPC_AxleLuaUpload __pyx_mstate_global->__pyx_n_s_RPC_AxleLuaUpload
#define __pyx_n_s_RPC_AxleSensorActivate __pyx_mstate_global->__pyx_n_s_RPC_AxleSensorActivate
#define __pyx_n_s_RPC_AxleSensorConfig __pyx_mstate_global->__pyx_n_s_RPC_AxleSensorConfig
#define __pyx_n_s_RPC_AxleSensorConfigGet __pyx_mstate_global->__pyx_n_s_RPC_AxleSensorConfigGet
#define __pyx_n_s_RPC_AxleSensorRegWrite __pyx_mstate_global->__pyx_n_s_RPC_AxleSensorRegWrite
#define __pyx_n_s_RPC_Circle __pyx_mstate_global->__pyx_n_s_RPC_Circle
#define __pyx_n_s_RPC_CloseRPC __pyx_mstate_global->__pyx_n_s_RPC_CloseRPC
#define __pyx_n_s_RPC_ComputeExTCF __pyx_mstate_global->__pyx_n_s_RPC_ComputeExTCF
#define __pyx_n_s_RPC_ComputeFileMD5 __pyx_mstate_global->__pyx_n_s_RPC_ComputeFileMD5
#define __pyx_n_s_RPC_ComputePostPick __pyx_mstate_global->__pyx_n_s_RPC_ComputePostPick
#define __pyx_n_s_RPC_ComputePrePick __pyx_mstate_global->__pyx_n_s_RPC_ComputePrePick
#define __pyx_n_s_RPC_ComputeTcp4 __pyx_mstate_global->__pyx_n_s_RPC_ComputeTcp4
#define __pyx_n_s_RPC_ComputeTool __pyx_mstate_global->__pyx_n_s_RPC_ComputeTool
#define __pyx_n_s_RPC_ComputeToolCoordWithPoints __pyx_mstate_global->__pyx_n_s_RPC_ComputeToolCoordWithPoints
#define __pyx_n_s_RPC_ComputeWObjCoord __pyx_mstate_global->__pyx_n_s_RPC_ComputeWObjCoord
#define __pyx_n_s_RPC_ComputeWObjCoordWithPoints __pyx_mstate_global->__pyx_n_s_RPC_ComputeWObjCoordWithPoints
#define __pyx_n_s_RPC_ConveyorCatchPointComp __pyx_mstate_global->__pyx_n_s_RPC_ConveyorCatchPointComp
#define __pyx_n_s_RPC_ConveyorComDetect __pyx_mstate_global->__pyx_n_s_RPC_ConveyorComDetect
#define __pyx_n_s_RPC_ConveyorComDetectTrigger __pyx_mstate_global->__pyx_n_s_RPC_ConveyorComDetectTrigger
#define __pyx_n_s_RPC_ConveyorGetTrackData __pyx_mstate_global->__pyx_n_s_RPC_ConveyorGetTrackData
#define __pyx_n_s_RPC_ConveyorIODetect __pyx_mstate_global->__pyx_n_s_RPC_ConveyorIODetect
#define __pyx_n_s_RPC_ConveyorPointARecord __pyx_mstate_global->__pyx_n_s_RPC_ConveyorPointARecord
#define __pyx_n_s_RPC_ConveyorPointBRecord __pyx_mstate_global->__pyx_n_s_RPC_ConveyorPointBRecord
#define __pyx_n_s_RPC_ConveyorPointIORecord __pyx_mstate_global->__pyx_n_s_RPC_ConveyorPointIORecord
#define __pyx_n_s_RPC_ConveyorRefPointRecord __pyx_mstate_global->__pyx_n_s_RPC_ConveyorRefPointRecord
#define __pyx_n_s_RPC_ConveyorSetParam __pyx_mstate_global->__pyx_n_s_RPC_ConveyorSetParam
#define __pyx_n_s_RPC_ConveyorStartEnd __pyx_mstate_global->__pyx_n_s_RPC_ConveyorStartEnd
#define __pyx_n_s_RPC_ConveyorTrackEnd __pyx_mstate_global->__pyx_n_s_RPC_ConveyorTrackEnd
#define __pyx_n_s_RPC_ConveyorTrackMoveL __pyx_mstate_global->__pyx_n_s_RPC_ConveyorTrackMoveL
#define __pyx_n_s_RPC_ConveyorTrackStart __pyx_mstate_global->__pyx_n_s_RPC_ConveyorTrackStart
#define __pyx_n_s_RPC_CustomCollisionDetectionEnd __pyx_mstate_global->__pyx_n_s_RPC_CustomCollisionDetectionEnd
#define __pyx_n_s_RPC_CustomCollisionDetectionStar __pyx_mstate_global->__pyx_n_s_RPC_CustomCollisionDetectionStar
#define __pyx_n_s_RPC_DataPackageDownload __pyx_mstate_global->__pyx_n_s_RPC_DataPackageDownload
#define __pyx_n_s_RPC_DragTeachSwitch __pyx_mstate_global->__pyx_n_s_RPC_DragTeachSwitch
#define __pyx_n_s_RPC_EndForceDragControl __pyx_mstate_global->__pyx_n_s_RPC_EndForceDragControl
#define __pyx_n_s_RPC_ExtAxisActiveECoordSys __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisActiveECoordSys
#define __pyx_n_s_RPC_ExtAxisComputeECoordSys __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisComputeECoordSys
#define __pyx_n_s_RPC_ExtAxisMove __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisMove
#define __pyx_n_s_RPC_ExtAxisParamConfig __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisParamConfig
#define __pyx_n_s_RPC_ExtAxisServoOn __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisServoOn
#define __pyx_n_s_RPC_ExtAxisSetHoming __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisSetHoming
#define __pyx_n_s_RPC_ExtAxisSetRefPoint __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisSetRefPoint
#define __pyx_n_s_RPC_ExtAxisStartJog __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisStartJog
#define __pyx_n_s_RPC_ExtAxisStopJog __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisStopJog
#define __pyx_n_s_RPC_ExtAxisSyncMoveC __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisSyncMoveC
#define __pyx_n_s_RPC_ExtAxisSyncMoveJ __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisSyncMoveJ
#define __pyx_n_s_RPC_ExtAxisSyncMoveL __pyx_mstate_global->__pyx_n_s_RPC_ExtAxisSyncMoveL
#define __pyx_n_s_RPC_ExtDevGetUDPComParam __pyx_mstate_global->__pyx_n_s_RPC_ExtDevGetUDPComParam
#define __pyx_n_s_RPC_ExtDevLoadUDPDriver __pyx_mstate_global->__pyx_n_s_RPC_ExtDevLoadUDPDriver
#define __pyx_n_s_RPC_ExtDevSetUDPComParam __pyx_mstate_global->__pyx_n_s_RPC_ExtDevSetUDPComParam
#define __pyx_n_s_RPC_ExtDevUDPClientComClose __pyx_mstate_global->__pyx_n_s_RPC_ExtDevUDPClientComClose
#define __pyx_n_s_RPC_ExtDevUDPClientComReset __pyx_mstate_global->__pyx_n_s_RPC_ExtDevUDPClientComReset
#define __pyx_n_s_RPC_ExtDevUnloadUDPDriver __pyx_mstate_global->__pyx_n_s_RPC_ExtDevUnloadUDPDriver
#define __pyx_n_s_RPC_FT_Activate __pyx_mstate_global->__pyx_n_s_RPC_FT_Activate
#define __pyx_n_s_RPC_FT_CalCenterEnd __pyx_mstate_global->__pyx_n_s_RPC_FT_CalCenterEnd
#define __pyx_n_s_RPC_FT_CalCenterStart __pyx_mstate_global->__pyx_n_s_RPC_FT_CalCenterStart
#define __pyx_n_s_RPC_FT_ComplianceStart __pyx_mstate_global->__pyx_n_s_RPC_FT_ComplianceStart
#define __pyx_n_s_RPC_FT_ComplianceStop __pyx_mstate_global->__pyx_n_s_RPC_FT_ComplianceStop
#define __pyx_n_s_RPC_FT_Control __pyx_mstate_global->__pyx_n_s_RPC_FT_Control
#define __pyx_n_s_RPC_FT_FindSurface __pyx_mstate_global->__pyx_n_s_RPC_FT_FindSurface
#define __pyx_n_s_RPC_FT_GetConfig __pyx_mstate_global->__pyx_n_s_RPC_FT_GetConfig
#define __pyx_n_s_RPC_FT_GetForceTorqueOrigin __pyx_mstate_global->__pyx_n_s_RPC_FT_GetForceTorqueOrigin
#define __pyx_n_s_RPC_FT_GetForceTorqueRCS __pyx_mstate_global->__pyx_n_s_RPC_FT_GetForceTorqueRCS
#define __pyx_n_s_RPC_FT_Guard __pyx_mstate_global->__pyx_n_s_RPC_FT_Guard
#define __pyx_n_s_RPC_FT_LinInsertion __pyx_mstate_global->__pyx_n_s_RPC_FT_LinInsertion
#define __pyx_n_s_RPC_FT_PdCogIdenCompute __pyx_mstate_global->__pyx_n_s_RPC_FT_PdCogIdenCompute
#define __pyx_n_s_RPC_FT_PdCogIdenRecord __pyx_mstate_global->__pyx_n_s_RPC_FT_PdCogIdenRecord
#define __pyx_n_s_RPC_FT_PdIdenCompute __pyx_mstate_global->__pyx_n_s_RPC_FT_PdIdenCompute
#define __pyx_n_s_RPC_FT_PdIdenRecord __pyx_mstate_global->__pyx_n_s_RPC_FT_PdIdenRecord
#define __pyx_n_s_RPC_FT_RotInsertion __pyx_mstate_global->__pyx_n_s_RPC_FT_RotInsertion
#define __pyx_n_s_RPC_FT_SetConfig __pyx_mstate_global->__pyx_n_s_RPC_FT_SetConfig
#define __pyx_n_s_RPC_FT_SetRCS __pyx_mstate_global->__pyx_n_s_RPC_FT_SetRCS
#define __pyx_n_s_RPC_FT_SetZero __pyx_mstate_global->__pyx_n_s_RPC_FT_SetZero
#define __pyx_n_s_RPC_FT_SpiralSearch __pyx_mstate_global->__pyx_n_s_RPC_FT_SpiralSearch
#define __pyx_n_s_RPC_ForceAndJointImpedanceStartS __pyx_mstate_global->__pyx_n_s_RPC_ForceAndJointImpedanceStartS
#define __pyx_n_s_RPC_ForceSensorAutoComputeLoad __pyx_mstate_global->__pyx_n_s_RPC_ForceSensorAutoComputeLoad
#define __pyx_n_s_RPC_ForceSensorComputeLoad __pyx_mstate_global->__pyx_n_s_RPC_ForceSensorComputeLoad
#define __pyx_n_s_RPC_ForceSensorSetSaveDataFlag __pyx_mstate_global->__pyx_n_s_RPC_ForceSensorSetSaveDataFlag
#define __pyx_n_s_RPC_FrictionCompensationOnOff __pyx_mstate_global->__pyx_n_s_RPC_FrictionCompensationOnOff
#define __pyx_n_s_RPC_GetAI __pyx_mstate_global->__pyx_n_s_RPC_GetAI
#define __pyx_n_s_RPC_GetActualJointAccDegree __pyx_mstate_global->__pyx_n_s_RPC_GetActualJointAccDegree
#define __pyx_n_s_RPC_GetActualJointPosDegree __pyx_mstate_global->__pyx_n_s_RPC_GetActualJointPosDegree
#define __pyx_n_s_RPC_GetActualJointPosRadian __pyx_mstate_global->__pyx_n_s_RPC_GetActualJointPosRadian
#define __pyx_n_s_RPC_GetActualJointSpeedsDegree __pyx_mstate_global->__pyx_n_s_RPC_GetActualJointSpeedsDegree
#define __pyx_n_s_RPC_GetActualTCPCompositeSpeed __pyx_mstate_global->__pyx_n_s_RPC_GetActualTCPCompositeSpeed
#define __pyx_n_s_RPC_GetActualTCPNum __pyx_mstate_global->__pyx_n_s_RPC_GetActualTCPNum
#define __pyx_n_s_RPC_GetActualTCPPose __pyx_mstate_global->__pyx_n_s_RPC_GetActualTCPPose
#define __pyx_n_s_RPC_GetActualTCPSpeed __pyx_mstate_global->__pyx_n_s_RPC_GetActualTCPSpeed
#define __pyx_n_s_RPC_GetActualToolFlangePose __pyx_mstate_global->__pyx_n_s_RPC_GetActualToolFlangePose
#define __pyx_n_s_RPC_GetActualWObjNum __pyx_mstate_global->__pyx_n_s_RPC_GetActualWObjNum
#define __pyx_n_s_RPC_GetAuxAI __pyx_mstate_global->__pyx_n_s_RPC_GetAuxAI
#define __pyx_n_s_RPC_GetAuxDI __pyx_mstate_global->__pyx_n_s_RPC_GetAuxDI
#define __pyx_n_s_RPC_GetAxleCommunicationParam __pyx_mstate_global->__pyx_n_s_RPC_GetAxleCommunicationParam
#define __pyx_n_s_RPC_GetAxleLuaEnableDevice __pyx_mstate_global->__pyx_n_s_RPC_GetAxleLuaEnableDevice
#define __pyx_n_s_RPC_GetAxleLuaEnableDeviceType __pyx_mstate_global->__pyx_n_s_RPC_GetAxleLuaEnableDeviceType
#define __pyx_n_s_RPC_GetAxleLuaEnableStatus __pyx_mstate_global->__pyx_n_s_RPC_GetAxleLuaEnableStatus
#define __pyx_n_s_RPC_GetAxleLuaGripperFunc __pyx_mstate_global->__pyx_n_s_RPC_GetAxleLuaGripperFunc
#define __pyx_n_s_RPC_GetAxlePointRecordBtnState __pyx_mstate_global->__pyx_n_s_RPC_GetAxlePointRecordBtnState
#define __pyx_n_s_RPC_GetControllerIP __pyx_mstate_global->__pyx_n_s_RPC_GetControllerIP
#define __pyx_n_s_RPC_GetCtrlOpenLUAName __pyx_mstate_global->__pyx_n_s_RPC_GetCtrlOpenLUAName
#define __pyx_n_s_RPC_GetCurrentLine __pyx_mstate_global->__pyx_n_s_RPC_GetCurrentLine
#define __pyx_n_s_RPC_GetDHCompensation __pyx_mstate_global->__pyx_n_s_RPC_GetDHCompensation
#define __pyx_n_s_RPC_GetDI __pyx_mstate_global->__pyx_n_s_RPC_GetDI
#define __pyx_n_s_RPC_GetDO __pyx_mstate_global->__pyx_n_s_RPC_GetDO
#define __pyx_n_s_RPC_GetDefaultTransVel __pyx_mstate_global->__pyx_n_s_RPC_GetDefaultTransVel
#define __pyx_n_s_RPC_GetExAxisDriverConfig __pyx_mstate_global->__pyx_n_s_RPC_GetExAxisDriverConfig
#define __pyx_n_s_RPC_GetExDevProtocol __pyx_mstate_global->__pyx_n_s_RPC_GetExDevProtocol
#define __pyx_n_s_RPC_GetForceAndTorqueDragState __pyx_mstate_global->__pyx_n_s_RPC_GetForceAndTorqueDragState
#define __pyx_n_s_RPC_GetForceSensorPayload __pyx_mstate_global->__pyx_n_s_RPC_GetForceSensorPayload
#define __pyx_n_s_RPC_GetForceSensorPayloadCog __pyx_mstate_global->__pyx_n_s_RPC_GetForceSensorPayloadCog
#define __pyx_n_s_RPC_GetForwardKin __pyx_mstate_global->__pyx_n_s_RPC_GetForwardKin
#define __pyx_n_s_RPC_GetGripperConfig __pyx_mstate_global->__pyx_n_s_RPC_GetGripperConfig
#define __pyx_n_s_RPC_GetGripperMotionDone __pyx_mstate_global->__pyx_n_s_RPC_GetGripperMotionDone
#define __pyx_n_s_RPC_GetGripperRotNum __pyx_mstate_global->__pyx_n_s_RPC_GetGripperRotNum
#define __pyx_n_s_RPC_GetGripperRotSpeed __pyx_mstate_global->__pyx_n_s_RPC_GetGripperRotSpeed
#define __pyx_n_s_RPC_GetGripperRotTorque __pyx_mstate_global->__pyx_n_s_RPC_GetGripperRotTorque
#define __pyx_n_s_RPC_GetInverseKin __pyx_mstate_global->__pyx_n_s_RPC_GetInverseKin
#define __pyx_n_s_RPC_GetInverseKinHasSolution __pyx_mstate_global->__pyx_n_s_RPC_GetInverseKinHasSolution
#define __pyx_n_s_RPC_GetInverseKinRef __pyx_mstate_global->__pyx_n_s_RPC_GetInverseKinRef
#define __pyx_n_s_RPC_GetJointDriverTemperature __pyx_mstate_global->__pyx_n_s_RPC_GetJointDriverTemperature
#define __pyx_n_s_RPC_GetJointDriverTorque __pyx_mstate_global->__pyx_n_s_RPC_GetJointDriverTorque
#define __pyx_n_s_RPC_GetJointSoftLimitDeg __pyx_mstate_global->__pyx_n_s_RPC_GetJointSoftLimitDeg
#define __pyx_n_s_RPC_GetJointTorques __pyx_mstate_global->__pyx_n_s_RPC_GetJointTorques
#define __pyx_n_s_RPC_GetLoadedProgram __pyx_mstate_global->__pyx_n_s_RPC_GetLoadedProgram
#define __pyx_n_s_RPC_GetLuaList __pyx_mstate_global->__pyx_n_s_RPC_GetLuaList
#define __pyx_n_s_RPC_GetMotionQueueLength __pyx_mstate_global->__pyx_n_s_RPC_GetMotionQueueLength
#define __pyx_n_s_RPC_GetProgramState __pyx_mstate_global->__pyx_n_s_RPC_GetProgramState
#define __pyx_n_s_RPC_GetRobotCurJointsConfig __pyx_mstate_global->__pyx_n_s_RPC_GetRobotCurJointsConfig
#define __pyx_n_s_RPC_GetRobotEmergencyStopState __pyx_mstate_global->__pyx_n_s_RPC_GetRobotEmergencyStopState
#define __pyx_n_s_RPC_GetRobotErrorCode __pyx_mstate_global->__pyx_n_s_RPC_GetRobotErrorCode
#define __pyx_n_s_RPC_GetRobotInstallAngle __pyx_mstate_global->__pyx_n_s_RPC_GetRobotInstallAngle
#define __pyx_n_s_RPC_GetRobotMotionDone __pyx_mstate_global->__pyx_n_s_RPC_GetRobotMotionDone
#define __pyx_n_s_RPC_GetRobotRealTimeState __pyx_mstate_global->__pyx_n_s_RPC_GetRobotRealTimeState
#define __pyx_n_s_RPC_GetRobotRealtimeStateSampleP __pyx_mstate_global->__pyx_n_s_RPC_GetRobotRealtimeStateSampleP
#define __pyx_n_s_RPC_GetRobotSN __pyx_mstate_global->__pyx_n_s_RPC_GetRobotSN
#define __pyx_n_s_RPC_GetRobotTeachingPoint __pyx_mstate_global->__pyx_n_s_RPC_GetRobotTeachingPoint
#define __pyx_n_s_RPC_GetSDKComState __pyx_mstate_global->__pyx_n_s_RPC_GetSDKComState
#define __pyx_n_s_RPC_GetSDKVersion __pyx_mstate_global->__pyx_n_s_RPC_GetSDKVersion
#define __pyx_n_s_RPC_GetSSHKeygen __pyx_mstate_global->__pyx_n_s_RPC_GetSSHKeygen
#define __pyx_n_s_RPC_GetSafetyCode __pyx_mstate_global->__pyx_n_s_RPC_GetSafetyCode
#define __pyx_n_s_RPC_GetSafetyStopState __pyx_mstate_global->__pyx_n_s_RPC_GetSafetyStopState
#define __pyx_n_s_RPC_GetSegmentWeldPoint __pyx_mstate_global->__pyx_n_s_RPC_GetSegmentWeldPoint
#define __pyx_n_s_RPC_GetSlaveFirmVersion __pyx_mstate_global->__pyx_n_s_RPC_GetSlaveFirmVersion
#define __pyx_n_s_RPC_GetSlaveHardVersion __pyx_mstate_global->__pyx_n_s_RPC_GetSlaveHardVersion
#define __pyx_n_s_RPC_GetSoftwareUpgradeState __pyx_mstate_global->__pyx_n_s_RPC_GetSoftwareUpgradeState
#define __pyx_n_s_RPC_GetSoftwareVersion __pyx_mstate_global->__pyx_n_s_RPC_GetSoftwareVersion
#define __pyx_n_s_RPC_GetSysVarValue __pyx_mstate_global->__pyx_n_s_RPC_GetSysVarValue
#define __pyx_n_s_RPC_GetSystemClock __pyx_mstate_global->__pyx_n_s_RPC_GetSystemClock
#define __pyx_n_s_RPC_GetTCPOffset __pyx_mstate_global->__pyx_n_s_RPC_GetTCPOffset
#define __pyx_n_s_RPC_GetTPDStartPose __pyx_mstate_global->__pyx_n_s_RPC_GetTPDStartPose
#define __pyx_n_s_RPC_GetTargetPayload __pyx_mstate_global->__pyx_n_s_RPC_GetTargetPayload
#define __pyx_n_s_RPC_GetTargetPayloadCog __pyx_mstate_global->__pyx_n_s_RPC_GetTargetPayloadCog
#define __pyx_n_s_RPC_GetTargetTCPCompositeSpeed __pyx_mstate_global->__pyx_n_s_RPC_GetTargetTCPCompositeSpeed
#define __pyx_n_s_RPC_GetTargetTCPSpeed __pyx_mstate_global->__pyx_n_s_RPC_GetTargetTCPSpeed
#define __pyx_n_s_RPC_GetToolAI __pyx_mstate_global->__pyx_n_s_RPC_GetToolAI
#define __pyx_n_s_RPC_GetToolDI __pyx_mstate_global->__pyx_n_s_RPC_GetToolDI
#define __pyx_n_s_RPC_GetToolDO __pyx_mstate_global->__pyx_n_s_RPC_GetToolDO
#define __pyx_n_s_RPC_GetTrajectoryPointNum __pyx_mstate_global->__pyx_n_s_RPC_GetTrajectoryPointNum
#define __pyx_n_s_RPC_GetTrajectoryStartPose __pyx_mstate_global->__pyx_n_s_RPC_GetTrajectoryStartPose
#define __pyx_n_s_RPC_GetWObjOffset __pyx_mstate_global->__pyx_n_s_RPC_GetWObjOffset
#define __pyx_n_s_RPC_GetWireSearchOffset __pyx_mstate_global->__pyx_n_s_RPC_GetWireSearchOffset
#define __pyx_n_s_RPC_ImmStopJOG __pyx_mstate_global->__pyx_n_s_RPC_ImmStopJOG
#define __pyx_n_s_RPC_IsInDragTeach __pyx_mstate_global->__pyx_n_s_RPC_IsInDragTeach
#define __pyx_n_s_RPC_LaserSensorRecord __pyx_mstate_global->__pyx_n_s_RPC_LaserSensorRecord
#define __pyx_n_s_RPC_LaserTrackingLaserOff __pyx_mstate_global->__pyx_n_s_RPC_LaserTrackingLaserOff
#define __pyx_n_s_RPC_LaserTrackingLaserOn __pyx_mstate_global->__pyx_n_s_RPC_LaserTrackingLaserOn
#define __pyx_n_s_RPC_LaserTrackingSearchStart __pyx_mstate_global->__pyx_n_s_RPC_LaserTrackingSearchStart
#define __pyx_n_s_RPC_LaserTrackingSearchStop __pyx_mstate_global->__pyx_n_s_RPC_LaserTrackingSearchStop
#define __pyx_n_s_RPC_LaserTrackingTrackOff __pyx_mstate_global->__pyx_n_s_RPC_LaserTrackingTrackOff
#define __pyx_n_s_RPC_LaserTrackingTrackOn __pyx_mstate_global->__pyx_n_s_RPC_LaserTrackingTrackOn
#define __pyx_n_s_RPC_LinArcFIRPlanningEnd __pyx_mstate_global->__pyx_n_s_RPC_LinArcFIRPlanningEnd
#define __pyx_n_s_RPC_LinArcFIRPlanningStart __pyx_mstate_global->__pyx_n_s_RPC_LinArcFIRPlanningStart
#define __pyx_n_s_RPC_LoadCtrlOpenLUA __pyx_mstate_global->__pyx_n_s_RPC_LoadCtrlOpenLUA
#define __pyx_n_s_RPC_LoadDefaultProgConfig __pyx_mstate_global->__pyx_n_s_RPC_LoadDefaultProgConfig
#define __pyx_n_s_RPC_LoadIdentifyDynFilterInit __pyx_mstate_global->__pyx_n_s_RPC_LoadIdentifyDynFilterInit
#define __pyx_n_s_RPC_LoadIdentifyDynVarInit __pyx_mstate_global->__pyx_n_s_RPC_LoadIdentifyDynVarInit
#define __pyx_n_s_RPC_LoadIdentifyGetResult __pyx_mstate_global->__pyx_n_s_RPC_LoadIdentifyGetResult
#define __pyx_n_s_RPC_LoadIdentifyMain __pyx_mstate_global->__pyx_n_s_RPC_LoadIdentifyMain
#define __pyx_n_s_RPC_LoadTPD __pyx_mstate_global->__pyx_n_s_RPC_LoadTPD
#define __pyx_n_s_RPC_LoadTrajectoryJ __pyx_mstate_global->__pyx_n_s_RPC_LoadTrajectoryJ
#define __pyx_n_s_RPC_LoadTrajectoryLA __pyx_mstate_global->__pyx_n_s_RPC_LoadTrajectoryLA
#define __pyx_n_s_RPC_LoggerInit __pyx_mstate_global->__pyx_n_s_RPC_LoggerInit
#define __pyx_n_s_RPC_LuaDelete __pyx_mstate_global->__pyx_n_s_RPC_LuaDelete
#define __pyx_n_s_RPC_LuaDownLoad __pyx_mstate_global->__pyx_n_s_RPC_LuaDownLoad
#define __pyx_n_s_RPC_LuaUpload __pyx_mstate_global->__pyx_n_s_RPC_LuaUpload
#define __pyx_n_s_RPC_Mode __pyx_mstate_global->__pyx_n_s_RPC_Mode
#define __pyx_n_s_RPC_MoveAOStart __pyx_mstate_global->__pyx_n_s_RPC_MoveAOStart
#define __pyx_n_s_RPC_MoveAOStop __pyx_mstate_global->__pyx_n_s_RPC_MoveAOStop
#define __pyx_n_s_RPC_MoveC __pyx_mstate_global->__pyx_n_s_RPC_MoveC
#define __pyx_n_s_RPC_MoveCart __pyx_mstate_global->__pyx_n_s_RPC_MoveCart
#define __pyx_n_s_RPC_MoveGripper __pyx_mstate_global->__pyx_n_s_RPC_MoveGripper
#define __pyx_n_s_RPC_MoveJ __pyx_mstate_global->__pyx_n_s_RPC_MoveJ
#define __pyx_n_s_RPC_MoveL __pyx_mstate_global->__pyx_n_s_RPC_MoveL
#define __pyx_n_s_RPC_MoveTPD __pyx_mstate_global->__pyx_n_s_RPC_MoveTPD
#define __pyx_n_s_RPC_MoveToolAOStart __pyx_mstate_global->__pyx_n_s_RPC_MoveToolAOStart
#define __pyx_n_s_RPC_MoveToolAOStop __pyx_mstate_global->__pyx_n_s_RPC_MoveToolAOStop
#define __pyx_n_s_RPC_MoveTrajectoryJ __pyx_mstate_global->__pyx_n_s_RPC_MoveTrajectoryJ
#define __pyx_n_s_RPC_MoveTrajectoryLA __pyx_mstate_global->__pyx_n_s_RPC_MoveTrajectoryLA
#define __pyx_n_s_RPC_MultilayerOffsetTrsfToBase __pyx_mstate_global->__pyx_n_s_RPC_MultilayerOffsetTrsfToBase
#define __pyx_n_s_RPC_NewSpiral __pyx_mstate_global->__pyx_n_s_RPC_NewSpiral
#define __pyx_n_s_RPC_NewSplineEnd __pyx_mstate_global->__pyx_n_s_RPC_NewSplineEnd
#define __pyx_n_s_RPC_NewSplinePoint __pyx_mstate_global->__pyx_n_s_RPC_NewSplinePoint
#define __pyx_n_s_RPC_NewSplineStart __pyx_mstate_global->__pyx_n_s_RPC_NewSplineStart
#define __pyx_n_s_RPC_PauseMotion __pyx_mstate_global->__pyx_n_s_RPC_PauseMotion
#define __pyx_n_s_RPC_PointTableDownLoad __pyx_mstate_global->__pyx_n_s_RPC_PointTableDownLoad
#define __pyx_n_s_RPC_PointTableSwitch __pyx_mstate_global->__pyx_n_s_RPC_PointTableSwitch
#define __pyx_n_s_RPC_PointTableUpLoad __pyx_mstate_global->__pyx_n_s_RPC_PointTableUpLoad
#define __pyx_n_s_RPC_PointTableUpdateLua __pyx_mstate_global->__pyx_n_s_RPC_PointTableUpdateLua
#define __pyx_n_s_RPC_PointsOffsetDisable __pyx_mstate_global->__pyx_n_s_RPC_PointsOffsetDisable
#define __pyx_n_s_RPC_PointsOffsetEnable __pyx_mstate_global->__pyx_n_s_RPC_PointsOffsetEnable
#define __pyx_n_s_RPC_PositionorComputeECoordSys __pyx_mstate_global->__pyx_n_s_RPC_PositionorComputeECoordSys
#define __pyx_n_s_RPC_PositionorSetRefPoint __pyx_mstate_global->__pyx_n_s_RPC_PositionorSetRefPoint
#define __pyx_n_s_RPC_ProgramLoad __pyx_mstate_global->__pyx_n_s_RPC_ProgramLoad
#define __pyx_n_s_RPC_ProgramPause __pyx_mstate_global->__pyx_n_s_RPC_ProgramPause
#define __pyx_n_s_RPC_ProgramResume __pyx_mstate_global->__pyx_n_s_RPC_ProgramResume
#define __pyx_n_s_RPC_ProgramRun __pyx_mstate_global->__pyx_n_s_RPC_ProgramRun
#define __pyx_n_s_RPC_ProgramStop __pyx_mstate_global->__pyx_n_s_RPC_ProgramStop
#define __pyx_n_s_RPC_PtpFIRPlanningEnd __pyx_mstate_global->__pyx_n_s_RPC_PtpFIRPlanningEnd
#define __pyx_n_s_RPC_PtpFIRPlanningStart __pyx_mstate_global->__pyx_n_s_RPC_PtpFIRPlanningStart
#define __pyx_n_s_RPC_RbLogDownload __pyx_mstate_global->__pyx_n_s_RPC_RbLogDownload
#define __pyx_n_s_RPC_ResetAllError __pyx_mstate_global->__pyx_n_s_RPC_ResetAllError
#define __pyx_n_s_RPC_ResumeMotion __pyx_mstate_global->__pyx_n_s_RPC_ResumeMotion
#define __pyx_n_s_RPC_RobotEnable __pyx_mstate_global->__pyx_n_s_RPC_RobotEnable
#define __pyx_n_s_RPC_SegmentWeldEnd __pyx_mstate_global->__pyx_n_s_RPC_SegmentWeldEnd
#define __pyx_n_s_RPC_SegmentWeldStart __pyx_mstate_global->__pyx_n_s_RPC_SegmentWeldStart
#define __pyx_n_s_RPC_ServoCart __pyx_mstate_global->__pyx_n_s_RPC_ServoCart
#define __pyx_n_s_RPC_ServoJ __pyx_mstate_global->__pyx_n_s_RPC_ServoJ
#define __pyx_n_s_RPC_ServoJT __pyx_mstate_global->__pyx_n_s_RPC_ServoJT
#define __pyx_n_s_RPC_ServoJTEnd __pyx_mstate_global->__pyx_n_s_RPC_ServoJTEnd
#define __pyx_n_s_RPC_ServoJTStart __pyx_mstate_global->__pyx_n_s_RPC_ServoJTStart
#define __pyx_n_s_RPC_ServoMoveEnd __pyx_mstate_global->__pyx_n_s_RPC_ServoMoveEnd
#define __pyx_n_s_RPC_ServoMoveStart __pyx_mstate_global->__pyx_n_s_RPC_ServoMoveStart
#define __pyx_n_s_RPC_SetAO __pyx_mstate_global->__pyx_n_s_RPC_SetAO
#define __pyx_n_s_RPC_SetAirControlExtDoNum __pyx_mstate_global->__pyx_n_s_RPC_SetAirControlExtDoNum
#define __pyx_n_s_RPC_SetAnticollision __pyx_mstate_global->__pyx_n_s_RPC_SetAnticollision
#define __pyx_n_s_RPC_SetArcDoneExtDiNum __pyx_mstate_global->__pyx_n_s_RPC_SetArcDoneExtDiNum
#define __pyx_n_s_RPC_SetArcStartExtDoNum __pyx_mstate_global->__pyx_n_s_RPC_SetArcStartExtDoNum
#define __pyx_n_s_RPC_SetAspirated __pyx_mstate_global->__pyx_n_s_RPC_SetAspirated
#define __pyx_n_s_RPC_SetAuxAIFilterTime __pyx_mstate_global->__pyx_n_s_RPC_SetAuxAIFilterTime
#define __pyx_n_s_RPC_SetAuxAO __pyx_mstate_global->__pyx_n_s_RPC_SetAuxAO
#define __pyx_n_s_RPC_SetAuxDIFilterTime __pyx_mstate_global->__pyx_n_s_RPC_SetAuxDIFilterTime
#define __pyx_n_s_RPC_SetAuxDO __pyx_mstate_global->__pyx_n_s_RPC_SetAuxDO
#define __pyx_n_s_RPC_SetAxisDHParaConfig __pyx_mstate_global->__pyx_n_s_RPC_SetAxisDHParaConfig
#define __pyx_n_s_RPC_SetAxleCommunicationParam __pyx_mstate_global->__pyx_n_s_RPC_SetAxleCommunicationParam
#define __pyx_n_s_RPC_SetAxleFileType __pyx_mstate_global->__pyx_n_s_RPC_SetAxleFileType
#define __pyx_n_s_RPC_SetAxleLuaEnable __pyx_mstate_global->__pyx_n_s_RPC_SetAxleLuaEnable
#define __pyx_n_s_RPC_SetAxleLuaEnableDeviceType __pyx_mstate_global->__pyx_n_s_RPC_SetAxleLuaEnableDeviceType
#define __pyx_n_s_RPC_SetAxleLuaGripperFunc __pyx_mstate_global->__pyx_n_s_RPC_SetAxleLuaGripperFunc
#define __pyx_n_s_RPC_SetCollisionDetectionMethod __pyx_mstate_global->__pyx_n_s_RPC_SetCollisionDetectionMethod
#define __pyx_n_s_RPC_SetCollisionStrategy __pyx_mstate_global->__pyx_n_s_RPC_SetCollisionStrategy
#define __pyx_n_s_RPC_SetCtrlOpenLUAName __pyx_mstate_global->__pyx_n_s_RPC_SetCtrlOpenLUAName
#define __pyx_n_s_RPC_SetCtrlOpenLuaErrCode __pyx_mstate_global->__pyx_n_s_RPC_SetCtrlOpenLuaErrCode
#define __pyx_n_s_RPC_SetDO __pyx_mstate_global->__pyx_n_s_RPC_SetDO
#define __pyx_n_s_RPC_SetExDevProtocol __pyx_mstate_global->__pyx_n_s_RPC_SetExDevProtocol
#define __pyx_n_s_RPC_SetExTCPPoint __pyx_mstate_global->__pyx_n_s_RPC_SetExTCPPoint
#define __pyx_n_s_RPC_SetExToolCoord __pyx_mstate_global->__pyx_n_s_RPC_SetExToolCoord
#define __pyx_n_s_RPC_SetExToolList __pyx_mstate_global->__pyx_n_s_RPC_SetExToolList
#define __pyx_n_s_RPC_SetExtDIWeldBreakOffRecover __pyx_mstate_global->__pyx_n_s_RPC_SetExtDIWeldBreakOffRecover
#define __pyx_n_s_RPC_SetForceSensorDragAutoFlag __pyx_mstate_global->__pyx_n_s_RPC_SetForceSensorDragAutoFlag
#define __pyx_n_s_RPC_SetForceSensorPayload __pyx_mstate_global->__pyx_n_s_RPC_SetForceSensorPayload
#define __pyx_n_s_RPC_SetForceSensorPayloadCog __pyx_mstate_global->__pyx_n_s_RPC_SetForceSensorPayloadCog
#define __pyx_n_s_RPC_SetForwardWireFeed __pyx_mstate_global->__pyx_n_s_RPC_SetForwardWireFeed
#define __pyx_n_s_RPC_SetFrictionValue_ceiling __pyx_mstate_global->__pyx_n_s_RPC_SetFrictionValue_ceiling
#define __pyx_n_s_RPC_SetFrictionValue_freedom __pyx_mstate_global->__pyx_n_s_RPC_SetFrictionValue_freedom
#define __pyx_n_s_RPC_SetFrictionValue_level __pyx_mstate_global->__pyx_n_s_RPC_SetFrictionValue_level
#define __pyx_n_s_RPC_SetFrictionValue_wall __pyx_mstate_global->__pyx_n_s_RPC_SetFrictionValue_wall
#define __pyx_n_s_RPC_SetGripperConfig __pyx_mstate_global->__pyx_n_s_RPC_SetGripperConfig
#define __pyx_n_s_RPC_SetLimitNegative __pyx_mstate_global->__pyx_n_s_RPC_SetLimitNegative
#define __pyx_n_s_RPC_SetLimitPositive __pyx_mstate_global->__pyx_n_s_RPC_SetLimitPositive
#define __pyx_n_s_RPC_SetLoadCoord __pyx_mstate_global->__pyx_n_s_RPC_SetLoadCoord
#define __pyx_n_s_RPC_SetLoadWeight __pyx_mstate_global->__pyx_n_s_RPC_SetLoadWeight
#define __pyx_n_s_RPC_SetLoggerLevel __pyx_mstate_global->__pyx_n_s_RPC_SetLoggerLevel
#define __pyx_n_s_RPC_SetOaccScale __pyx_mstate_global->__pyx_n_s_RPC_SetOaccScale
#define __pyx_n_s_RPC_SetOutputResetAxleAO __pyx_mstate_global->__pyx_n_s_RPC_SetOutputResetAxleAO
#define __pyx_n_s_RPC_SetOutputResetAxleDO __pyx_mstate_global->__pyx_n_s_RPC_SetOutputResetAxleDO
#define __pyx_n_s_RPC_SetOutputResetCtlBoxAO __pyx_mstate_global->__pyx_n_s_RPC_SetOutputResetCtlBoxAO
#define __pyx_n_s_RPC_SetOutputResetCtlBoxDO __pyx_mstate_global->__pyx_n_s_RPC_SetOutputResetCtlBoxDO
#define __pyx_n_s_RPC_SetOutputResetExtAO __pyx_mstate_global->__pyx_n_s_RPC_SetOutputResetExtAO
#define __pyx_n_s_RPC_SetOutputResetExtDO __pyx_mstate_global->__pyx_n_s_RPC_SetOutputResetExtDO
#define __pyx_n_s_RPC_SetOutputResetSmartToolDO __pyx_mstate_global->__pyx_n_s_RPC_SetOutputResetSmartToolDO
#define __pyx_n_s_RPC_SetPointToDatabase __pyx_mstate_global->__pyx_n_s_RPC_SetPointToDatabase
#define __pyx_n_s_RPC_SetPowerLimit __pyx_mstate_global->__pyx_n_s_RPC_SetPowerLimit
#define __pyx_n_s_RPC_SetRecoverAxleLuaErr __pyx_mstate_global->__pyx_n_s_RPC_SetRecoverAxleLuaErr
#define __pyx_n_s_RPC_SetRefPointInExAxisEnd __pyx_mstate_global->__pyx_n_s_RPC_SetRefPointInExAxisEnd
#define __pyx_n_s_RPC_SetReverseWireFeed __pyx_mstate_global->__pyx_n_s_RPC_SetReverseWireFeed
#define __pyx_n_s_RPC_SetRobotInstallAngle __pyx_mstate_global->__pyx_n_s_RPC_SetRobotInstallAngle
#define __pyx_n_s_RPC_SetRobotInstallPos __pyx_mstate_global->__pyx_n_s_RPC_SetRobotInstallPos
#define __pyx_n_s_RPC_SetRobotPosToAxis __pyx_mstate_global->__pyx_n_s_RPC_SetRobotPosToAxis
#define __pyx_n_s_RPC_SetRobotRealtimeStateSampleP __pyx_mstate_global->__pyx_n_s_RPC_SetRobotRealtimeStateSampleP
#define __pyx_n_s_RPC_SetSSHScpCmd __pyx_mstate_global->__pyx_n_s_RPC_SetSSHScpCmd
#define __pyx_n_s_RPC_SetSpeed __pyx_mstate_global->__pyx_n_s_RPC_SetSpeed
#define __pyx_n_s_RPC_SetStaticCollisionOnOff __pyx_mstate_global->__pyx_n_s_RPC_SetStaticCollisionOnOff
#define __pyx_n_s_RPC_SetSysServoBootMode __pyx_mstate_global->__pyx_n_s_RPC_SetSysServoBootMode
#define __pyx_n_s_RPC_SetSysVarValue __pyx_mstate_global->__pyx_n_s_RPC_SetSysVarValue
#define __pyx_n_s_RPC_SetTPDDelete __pyx_mstate_global->__pyx_n_s_RPC_SetTPDDelete
#define __pyx_n_s_RPC_SetTPDParam __pyx_mstate_global->__pyx_n_s_RPC_SetTPDParam
#define __pyx_n_s_RPC_SetTPDStart __pyx_mstate_global->__pyx_n_s_RPC_SetTPDStart
#define __pyx_n_s_RPC_SetTcp4RefPoint __pyx_mstate_global->__pyx_n_s_RPC_SetTcp4RefPoint
#define __pyx_n_s_RPC_SetToolAO __pyx_mstate_global->__pyx_n_s_RPC_SetToolAO
#define __pyx_n_s_RPC_SetToolCoord __pyx_mstate_global->__pyx_n_s_RPC_SetToolCoord
#define __pyx_n_s_RPC_SetToolDO __pyx_mstate_global->__pyx_n_s_RPC_SetToolDO
#define __pyx_n_s_RPC_SetToolList __pyx_mstate_global->__pyx_n_s_RPC_SetToolList
#define __pyx_n_s_RPC_SetToolPoint __pyx_mstate_global->__pyx_n_s_RPC_SetToolPoint
#define __pyx_n_s_RPC_SetTrajectoryJForceFx __pyx_mstate_global->__pyx_n_s_RPC_SetTrajectoryJForceFx
#define __pyx_n_s_RPC_SetTrajectoryJForceFy __pyx_mstate_global->__pyx_n_s_RPC_SetTrajectoryJForceFy
#define __pyx_n_s_RPC_SetTrajectoryJForceFz __pyx_mstate_global->__pyx_n_s_RPC_SetTrajectoryJForceFz
#define __pyx_n_s_RPC_SetTrajectoryJForceTorque __pyx_mstate_global->__pyx_n_s_RPC_SetTrajectoryJForceTorque
#define __pyx_n_s_RPC_SetTrajectoryJSpeed __pyx_mstate_global->__pyx_n_s_RPC_SetTrajectoryJSpeed
#define __pyx_n_s_RPC_SetTrajectoryJTorqueTx __pyx_mstate_global->__pyx_n_s_RPC_SetTrajectoryJTorqueTx
#define __pyx_n_s_RPC_SetTrajectoryJTorqueTy __pyx_mstate_global->__pyx_n_s_RPC_SetTrajectoryJTorqueTy
#define __pyx_n_s_RPC_SetTrajectoryJTorqueTz __pyx_mstate_global->__pyx_n_s_RPC_SetTrajectoryJTorqueTz
#define __pyx_n_s_RPC_SetWObjCoord __pyx_mstate_global->__pyx_n_s_RPC_SetWObjCoord
#define __pyx_n_s_RPC_SetWObjCoordPoint __pyx_mstate_global->__pyx_n_s_RPC_SetWObjCoordPoint
#define __pyx_n_s_RPC_SetWObjList __pyx_mstate_global->__pyx_n_s_RPC_SetWObjList
#define __pyx_n_s_RPC_SetWebTPDStop __pyx_mstate_global->__pyx_n_s_RPC_SetWebTPDStop
#define __pyx_n_s_RPC_SetWeldMachineCtrlMode __pyx_mstate_global->__pyx_n_s_RPC_SetWeldMachineCtrlMode
#define __pyx_n_s_RPC_SetWeldMachineCtrlModeExtDoN __pyx_mstate_global->__pyx_n_s_RPC_SetWeldMachineCtrlModeExtDoN
#define __pyx_n_s_RPC_SetWeldReadyExtDiNum __pyx_mstate_global->__pyx_n_s_RPC_SetWeldReadyExtDiNum
#define __pyx_n_s_RPC_SetWireForwardFeedExtDoNum __pyx_mstate_global->__pyx_n_s_RPC_SetWireForwardFeedExtDoNum
#define __pyx_n_s_RPC_SetWireReverseFeedExtDoNum __pyx_mstate_global->__pyx_n_s_RPC_SetWireReverseFeedExtDoNum
#define __pyx_n_s_RPC_SetWireSearchExtDIONum __pyx_mstate_global->__pyx_n_s_RPC_SetWireSearchExtDIONum
#define __pyx_n_s_RPC_ShutDownRobotOS __pyx_mstate_global->__pyx_n_s_RPC_ShutDownRobotOS
#define __pyx_n_s_RPC_SingularAvoidEnd __pyx_mstate_global->__pyx_n_s_RPC_SingularAvoidEnd
#define __pyx_n_s_RPC_SingularAvoidStart __pyx_mstate_global->__pyx_n_s_RPC_SingularAvoidStart
#define __pyx_n_s_RPC_SlaveFileWrite __pyx_mstate_global->__pyx_n_s_RPC_SlaveFileWrite
#define __pyx_n_s_RPC_SoftwareUpgrade __pyx_mstate_global->__pyx_n_s_RPC_SoftwareUpgrade
#define __pyx_n_s_RPC_SplineEnd __pyx_mstate_global->__pyx_n_s_RPC_SplineEnd
#define __pyx_n_s_RPC_SplinePTP __pyx_mstate_global->__pyx_n_s_RPC_SplinePTP
#define __pyx_n_s_RPC_SplineStart __pyx_mstate_global->__pyx_n_s_RPC_SplineStart
#define __pyx_n_s_RPC_StartJOG __pyx_mstate_global->__pyx_n_s_RPC_StartJOG
#define __pyx_n_s_RPC_StopJOG __pyx_mstate_global->__pyx_n_s_RPC_StopJOG
#define __pyx_n_s_RPC_StopMotion __pyx_mstate_global->__pyx_n_s_RPC_StopMotion
#define __pyx_n_s_RPC_StopMove __pyx_mstate_global->__pyx_n_s_RPC_StopMove
#define __pyx_n_s_RPC_ToolTrsfEnd __pyx_mstate_global->__pyx_n_s_RPC_ToolTrsfEnd
#define __pyx_n_s_RPC_ToolTrsfStart __pyx_mstate_global->__pyx_n_s_RPC_ToolTrsfStart
#define __pyx_n_s_RPC_TractorEnable __pyx_mstate_global->__pyx_n_s_RPC_TractorEnable
#define __pyx_n_s_RPC_TractorHoming __pyx_mstate_global->__pyx_n_s_RPC_TractorHoming
#define __pyx_n_s_RPC_TractorMoveC __pyx_mstate_global->__pyx_n_s_RPC_TractorMoveC
#define __pyx_n_s_RPC_TractorMoveL __pyx_mstate_global->__pyx_n_s_RPC_TractorMoveL
#define __pyx_n_s_RPC_TractorStop __pyx_mstate_global->__pyx_n_s_RPC_TractorStop
#define __pyx_n_s_RPC_TrajectoryJDelete __pyx_mstate_global->__pyx_n_s_RPC_TrajectoryJDelete
#define __pyx_n_s_RPC_TrajectoryJUpLoad __pyx_mstate_global->__pyx_n_s_RPC_TrajectoryJUpLoad
#define __pyx_n_s_RPC_UnloadCtrlOpenLUA __pyx_mstate_global->__pyx_n_s_RPC_UnloadCtrlOpenLUA
#define __pyx_n_s_RPC_WaitAI __pyx_mstate_global->__pyx_n_s_RPC_WaitAI
#define __pyx_n_s_RPC_WaitAuxAI __pyx_mstate_global->__pyx_n_s_RPC_WaitAuxAI
#define __pyx_n_s_RPC_WaitAuxDI __pyx_mstate_global->__pyx_n_s_RPC_WaitAuxDI
#define __pyx_n_s_RPC_WaitDI __pyx_mstate_global->__pyx_n_s_RPC_WaitDI
#define __pyx_n_s_RPC_WaitMs __pyx_mstate_global->__pyx_n_s_RPC_WaitMs
#define __pyx_n_s_RPC_WaitMultiDI __pyx_mstate_global->__pyx_n_s_RPC_WaitMultiDI
#define __pyx_n_s_RPC_WaitToolAI __pyx_mstate_global->__pyx_n_s_RPC_WaitToolAI
#define __pyx_n_s_RPC_WaitToolDI __pyx_mstate_global->__pyx_n_s_RPC_WaitToolDI
#define __pyx_n_s_RPC_WeaveChangeEnd __pyx_mstate_global->__pyx_n_s_RPC_WeaveChangeEnd
#define __pyx_n_s_RPC_WeaveChangeStart __pyx_mstate_global->__pyx_n_s_RPC_WeaveChangeStart
#define __pyx_n_s_RPC_WeaveEnd __pyx_mstate_global->__pyx_n_s_RPC_WeaveEnd
#define __pyx_n_s_RPC_WeaveEndSim __pyx_mstate_global->__pyx_n_s_RPC_WeaveEndSim
#define __pyx_n_s_RPC_WeaveInspectEnd __pyx_mstate_global->__pyx_n_s_RPC_WeaveInspectEnd
#define __pyx_n_s_RPC_WeaveInspectStart __pyx_mstate_global->__pyx_n_s_RPC_WeaveInspectStart
#define __pyx_n_s_RPC_WeaveOnlineSetPara __pyx_mstate_global->__pyx_n_s_RPC_WeaveOnlineSetPara
#define __pyx_n_s_RPC_WeaveSetPara __pyx_mstate_global->__pyx_n_s_RPC_WeaveSetPara
#define __pyx_n_s_RPC_WeaveStart __pyx_mstate_global->__pyx_n_s_RPC_WeaveStart
#define __pyx_n_s_RPC_WeaveStartSim __pyx_mstate_global->__pyx_n_s_RPC_WeaveStartSim
#define __pyx_n_s_RPC_WeldingAbortWeldAfterBreakOf __pyx_mstate_global->__pyx_n_s_RPC_WeldingAbortWeldAfterBreakOf
#define __pyx_n_s_RPC_WeldingGetCheckArcInterrupti __pyx_mstate_global->__pyx_n_s_RPC_WeldingGetCheckArcInterrupti
#define __pyx_n_s_RPC_WeldingGetCurrentRelation __pyx_mstate_global->__pyx_n_s_RPC_WeldingGetCurrentRelation
#define __pyx_n_s_RPC_WeldingGetProcessParam __pyx_mstate_global->__pyx_n_s_RPC_WeldingGetProcessParam
#define __pyx_n_s_RPC_WeldingGetReWeldAfterBreakOf __pyx_mstate_global->__pyx_n_s_RPC_WeldingGetReWeldAfterBreakOf
#define __pyx_n_s_RPC_WeldingGetVoltageRelation __pyx_mstate_global->__pyx_n_s_RPC_WeldingGetVoltageRelation
#define __pyx_n_s_RPC_WeldingSetCheckArcInterrupti __pyx_mstate_global->__pyx_n_s_RPC_WeldingSetCheckArcInterrupti
#define __pyx_n_s_RPC_WeldingSetCurrent __pyx_mstate_global->__pyx_n_s_RPC_WeldingSetCurrent
#define __pyx_n_s_RPC_WeldingSetCurrentRelation __pyx_mstate_global->__pyx_n_s_RPC_WeldingSetCurrentRelation
#define __pyx_n_s_RPC_WeldingSetProcessParam __pyx_mstate_global->__pyx_n_s_RPC_WeldingSetProcessParam
#define __pyx_n_s_RPC_WeldingSetReWeldAfterBreakOf __pyx_mstate_global->__pyx_n_s_RPC_WeldingSetReWeldAfterBreakOf
#define __pyx_n_s_RPC_WeldingSetVoltage __pyx_mstate_global->__pyx_n_s_RPC_WeldingSetVoltage
#define __pyx_n_s_RPC_WeldingSetVoltageRelation __pyx_mstate_global->__pyx_n_s_RPC_WeldingSetVoltageRelation
#define __pyx_n_s_RPC_WeldingStartReWeldAfterBreak __pyx_mstate_global->__pyx_n_s_RPC_WeldingStartReWeldAfterBreak
#define __pyx_n_s_RPC_WireSearchEnd __pyx_mstate_global->__pyx_n_s_RPC_WireSearchEnd
#define __pyx_n_s_RPC_WireSearchStart __pyx_mstate_global->__pyx_n_s_RPC_WireSearchStart
#define __pyx_n_s_RPC_WireSearchWait __pyx_mstate_global->__pyx_n_s_RPC_WireSearchWait
#define __pyx_n_s_RPC__FileDelete __pyx_mstate_global->__pyx_n_s_RPC__FileDelete
#define __pyx_n_s_RPC__FileDownLoad __pyx_mstate_global->__pyx_n_s_RPC__FileDownLoad
#define __pyx_n_s_RPC__FileUpLoad __pyx_mstate_global->__pyx_n_s_RPC__FileUpLoad
#define __pyx_n_s_RPC___FileDelete __pyx_mstate_global->__pyx_n_s_RPC___FileDelete
#define __pyx_n_s_RPC___FileDownLoad __pyx_mstate_global->__pyx_n_s_RPC___FileDownLoad
#define __pyx_n_s_RPC___FileUpLoad __pyx_mstate_global->__pyx_n_s_RPC___FileUpLoad
#define __pyx_n_s_RPC___del __pyx_mstate_global->__pyx_n_s_RPC___del
#define __pyx_n_s_RPC___init __pyx_mstate_global->__pyx_n_s_RPC___init
#define __pyx_n_s_RPC_connect_to_robot __pyx_mstate_global->__pyx_n_s_RPC_connect_to_robot
#define __pyx_kp_s_RPC_connection_closed __pyx_mstate_global->__pyx_kp_s_RPC_connection_closed
#define __pyx_n_s_RPC_join_logging_thread __pyx_mstate_global->__pyx_n_s_RPC_join_logging_thread
#define __pyx_n_s_RPC_log_call __pyx_mstate_global->__pyx_n_s_RPC_log_call
#define __pyx_n_s_RPC_log_call_locals_wrapper __pyx_mstate_global->__pyx_n_s_RPC_log_call_locals_wrapper
#define __pyx_n_s_RPC_log_debug __pyx_mstate_global->__pyx_n_s_RPC_log_debug
#define __pyx_n_s_RPC_log_error __pyx_mstate_global->__pyx_n_s_RPC_log_error
#define __pyx_n_s_RPC_log_info __pyx_mstate_global->__pyx_n_s_RPC_log_info
#define __pyx_n_s_RPC_log_warning __pyx_mstate_global->__pyx_n_s_RPC_log_warning
#define __pyx_n_s_RPC_reconnect __pyx_mstate_global->__pyx_n_s_RPC_reconnect
#define __pyx_n_s_RPC_robot_state_routine_thread __pyx_mstate_global->__pyx_n_s_RPC_robot_state_routine_thread
#define __pyx_n_s_RPC_send_message __pyx_mstate_global->__pyx_n_s_RPC_send_message
#define __pyx_n_s_RPC_set_log_level __pyx_mstate_global->__pyx_n_s_RPC_set_log_level
#define __pyx_n_s_RPC_setup_logging __pyx_mstate_global->__pyx_n_s_RPC_setup_logging
#define __pyx_n_s_RPC_start_logging_thread __pyx_mstate_global->__pyx_n_s_RPC_start_logging_thread
#define __pyx_n_s_RbLogDownload __pyx_mstate_global->__pyx_n_s_RbLogDownload
#define __pyx_n_s_RbLogDownloadPrepare __pyx_mstate_global->__pyx_n_s_RbLogDownloadPrepare
#define __pyx_n_s_ResetAllError __pyx_mstate_global->__pyx_n_s_ResetAllError
#define __pyx_n_s_ResumeMotion __pyx_mstate_global->__pyx_n_s_ResumeMotion
#define __pyx_n_s_Robot __pyx_mstate_global->__pyx_n_s_Robot
#define __pyx_n_s_RobotEnable __pyx_mstate_global->__pyx_n_s_RobotEnable
#define __pyx_n_s_RobotError __pyx_mstate_global->__pyx_n_s_RobotError
#define __pyx_n_s_RobotStatePkg __pyx_mstate_global->__pyx_n_s_RobotStatePkg
#define __pyx_kp_s_Robot_V3_8_1 __pyx_mstate_global->__pyx_kp_s_Robot_V3_8_1
#define __pyx_kp_s_Robot_py __pyx_mstate_global->__pyx_kp_s_Robot_py
#define __pyx_n_s_RotatingFileHandler __pyx_mstate_global->__pyx_n_s_RotatingFileHandler
#define __pyx_kp_s_SDK __pyx_mstate_global->__pyx_kp_s_SDK
#define __pyx_kp_s_SDK_2 __pyx_mstate_global->__pyx_kp_s_SDK_2
#define __pyx_kp_s_SDK_V2_1_1 __pyx_mstate_global->__pyx_kp_s_SDK_V2_1_1
#define __pyx_n_s_SDK_state __pyx_mstate_global->__pyx_n_s_SDK_state
#define __pyx_n_s_SOCK_STREAM __pyx_mstate_global->__pyx_n_s_SOCK_STREAM
#define __pyx_n_s_SUCCESS __pyx_mstate_global->__pyx_n_s_SUCCESS
#define __pyx_n_s_SegmentWeldEnd __pyx_mstate_global->__pyx_n_s_SegmentWeldEnd
#define __pyx_n_s_SegmentWeldStart __pyx_mstate_global->__pyx_n_s_SegmentWeldStart
#define __pyx_n_s_ServerProxy __pyx_mstate_global->__pyx_n_s_ServerProxy
#define __pyx_n_s_ServoCart __pyx_mstate_global->__pyx_n_s_ServoCart
#define __pyx_n_s_ServoJ __pyx_mstate_global->__pyx_n_s_ServoJ
#define __pyx_n_s_ServoJT __pyx_mstate_global->__pyx_n_s_ServoJT
#define __pyx_n_s_ServoJTEnd __pyx_mstate_global->__pyx_n_s_ServoJTEnd
#define __pyx_n_s_ServoJTStart __pyx_mstate_global->__pyx_n_s_ServoJTStart
#define __pyx_n_s_ServoMoveEnd __pyx_mstate_global->__pyx_n_s_ServoMoveEnd
#define __pyx_n_s_ServoMoveStart __pyx_mstate_global->__pyx_n_s_ServoMoveStart
#define __pyx_n_s_SetAO __pyx_mstate_global->__pyx_n_s_SetAO
#define __pyx_n_s_SetAirControlExtDoNum __pyx_mstate_global->__pyx_n_s_SetAirControlExtDoNum
#define __pyx_n_s_SetAnticollision __pyx_mstate_global->__pyx_n_s_SetAnticollision
#define __pyx_n_s_SetArcDoneExtDiNum __pyx_mstate_global->__pyx_n_s_SetArcDoneExtDiNum
#define __pyx_n_s_SetArcStartExtDoNum __pyx_mstate_global->__pyx_n_s_SetArcStartExtDoNum
#define __pyx_n_s_SetAspirated __pyx_mstate_global->__pyx_n_s_SetAspirated
#define __pyx_n_s_SetAuxAIFilterTime __pyx_mstate_global->__pyx_n_s_SetAuxAIFilterTime
#define __pyx_n_s_SetAuxAO __pyx_mstate_global->__pyx_n_s_SetAuxAO
#define __pyx_n_s_SetAuxDIFilterTime __pyx_mstate_global->__pyx_n_s_SetAuxDIFilterTime
#define __pyx_n_s_SetAuxDO __pyx_mstate_global->__pyx_n_s_SetAuxDO
#define __pyx_n_s_SetAxisDHParaConfig __pyx_mstate_global->__pyx_n_s_SetAxisDHParaConfig
#define __pyx_n_s_SetAxleCommunicationParam __pyx_mstate_global->__pyx_n_s_SetAxleCommunicationParam
#define __pyx_n_s_SetAxleFileType __pyx_mstate_global->__pyx_n_s_SetAxleFileType
#define __pyx_n_s_SetAxleLuaEnable __pyx_mstate_global->__pyx_n_s_SetAxleLuaEnable
#define __pyx_n_s_SetAxleLuaEnableDeviceType __pyx_mstate_global->__pyx_n_s_SetAxleLuaEnableDeviceType
#define __pyx_n_s_SetAxleLuaGripperFunc __pyx_mstate_global->__pyx_n_s_SetAxleLuaGripperFunc
#define __pyx_n_s_SetCollisionDetectionMethod __pyx_mstate_global->__pyx_n_s_SetCollisionDetectionMethod
#define __pyx_n_s_SetCollisionStrategy __pyx_mstate_global->__pyx_n_s_SetCollisionStrategy
#define __pyx_n_s_SetCtrlOpenLUAName __pyx_mstate_global->__pyx_n_s_SetCtrlOpenLUAName
#define __pyx_n_s_SetCtrlOpenLuaErrCode __pyx_mstate_global->__pyx_n_s_SetCtrlOpenLuaErrCode
#define __pyx_n_s_SetDO __pyx_mstate_global->__pyx_n_s_SetDO
#define __pyx_n_s_SetExDevProtocol __pyx_mstate_global->__pyx_n_s_SetExDevProtocol
#define __pyx_n_s_SetExTCPPoint __pyx_mstate_global->__pyx_n_s_SetExTCPPoint
#define __pyx_n_s_SetExToolCoord __pyx_mstate_global->__pyx_n_s_SetExToolCoord
#define __pyx_n_s_SetExToolList __pyx_mstate_global->__pyx_n_s_SetExToolList
#define __pyx_n_s_SetExtDIWeldBreakOffRecover __pyx_mstate_global->__pyx_n_s_SetExtDIWeldBreakOffRecover
#define __pyx_n_s_SetForceSensorDragAutoFlag __pyx_mstate_global->__pyx_n_s_SetForceSensorDragAutoFlag
#define __pyx_n_s_SetForceSensorPayload __pyx_mstate_global->__pyx_n_s_SetForceSensorPayload
#define __pyx_n_s_SetForceSensorPayloadCog __pyx_mstate_global->__pyx_n_s_SetForceSensorPayloadCog
#define __pyx_n_s_SetForwardWireFeed __pyx_mstate_global->__pyx_n_s_SetForwardWireFeed
#define __pyx_n_s_SetFrictionValue_ceiling __pyx_mstate_global->__pyx_n_s_SetFrictionValue_ceiling
#define __pyx_n_s_SetFrictionValue_freedom __pyx_mstate_global->__pyx_n_s_SetFrictionValue_freedom
#define __pyx_n_s_SetFrictionValue_level __pyx_mstate_global->__pyx_n_s_SetFrictionValue_level
#define __pyx_n_s_SetFrictionValue_wall __pyx_mstate_global->__pyx_n_s_SetFrictionValue_wall
#define __pyx_n_s_SetGripperConfig __pyx_mstate_global->__pyx_n_s_SetGripperConfig
#define __pyx_n_s_SetLimitNegative __pyx_mstate_global->__pyx_n_s_SetLimitNegative
#define __pyx_n_s_SetLimitPositive __pyx_mstate_global->__pyx_n_s_SetLimitPositive
#define __pyx_n_s_SetLoadCoord __pyx_mstate_global->__pyx_n_s_SetLoadCoord
#define __pyx_n_s_SetLoadWeight __pyx_mstate_global->__pyx_n_s_SetLoadWeight
#define __pyx_n_s_SetLoggerLevel __pyx_mstate_global->__pyx_n_s_SetLoggerLevel
#define __pyx_n_s_SetOaccScale __pyx_mstate_global->__pyx_n_s_SetOaccScale
#define __pyx_n_s_SetOutputResetAxleAO __pyx_mstate_global->__pyx_n_s_SetOutputResetAxleAO
#define __pyx_n_s_SetOutputResetAxleDO __pyx_mstate_global->__pyx_n_s_SetOutputResetAxleDO
#define __pyx_n_s_SetOutputResetCtlBoxAO __pyx_mstate_global->__pyx_n_s_SetOutputResetCtlBoxAO
#define __pyx_n_s_SetOutputResetCtlBoxDO __pyx_mstate_global->__pyx_n_s_SetOutputResetCtlBoxDO
#define __pyx_n_s_SetOutputResetExtAO __pyx_mstate_global->__pyx_n_s_SetOutputResetExtAO
#define __pyx_n_s_SetOutputResetExtDO __pyx_mstate_global->__pyx_n_s_SetOutputResetExtDO
#define __pyx_n_s_SetOutputResetSmartToolDO __pyx_mstate_global->__pyx_n_s_SetOutputResetSmartToolDO
#define __pyx_n_s_SetPointToDatabase __pyx_mstate_global->__pyx_n_s_SetPointToDatabase
#define __pyx_n_s_SetPowerLimit __pyx_mstate_global->__pyx_n_s_SetPowerLimit
#define __pyx_n_s_SetRecoverAxleLuaErr __pyx_mstate_global->__pyx_n_s_SetRecoverAxleLuaErr
#define __pyx_n_s_SetRefPointInExAxisEnd __pyx_mstate_global->__pyx_n_s_SetRefPointInExAxisEnd
#define __pyx_n_s_SetReverseWireFeed __pyx_mstate_global->__pyx_n_s_SetReverseWireFeed
#define __pyx_n_s_SetRobotInstallAngle __pyx_mstate_global->__pyx_n_s_SetRobotInstallAngle
#define __pyx_n_s_SetRobotInstallPos __pyx_mstate_global->__pyx_n_s_SetRobotInstallPos
#define __pyx_n_s_SetRobotPosToAxis __pyx_mstate_global->__pyx_n_s_SetRobotPosToAxis
#define __pyx_n_s_SetRobotRealtimeStateSamplePerio __pyx_mstate_global->__pyx_n_s_SetRobotRealtimeStateSamplePerio
#define __pyx_n_s_SetSSHScpCmd __pyx_mstate_global->__pyx_n_s_SetSSHScpCmd
#define __pyx_n_s_SetSpeed __pyx_mstate_global->__pyx_n_s_SetSpeed
#define __pyx_n_s_SetStaticCollisionOnOff __pyx_mstate_global->__pyx_n_s_SetStaticCollisionOnOff
#define __pyx_n_s_SetSysServoBootMode __pyx_mstate_global->__pyx_n_s_SetSysServoBootMode
#define __pyx_n_s_SetSysVarValue __pyx_mstate_global->__pyx_n_s_SetSysVarValue
#define __pyx_n_s_SetTPDDelete __pyx_mstate_global->__pyx_n_s_SetTPDDelete
#define __pyx_n_s_SetTPDParam __pyx_mstate_global->__pyx_n_s_SetTPDParam
#define __pyx_n_s_SetTPDStart __pyx_mstate_global->__pyx_n_s_SetTPDStart
#define __pyx_n_s_SetTcp4RefPoint __pyx_mstate_global->__pyx_n_s_SetTcp4RefPoint
#define __pyx_n_s_SetToolAO __pyx_mstate_global->__pyx_n_s_SetToolAO
#define __pyx_n_s_SetToolCoord __pyx_mstate_global->__pyx_n_s_SetToolCoord
#define __pyx_n_s_SetToolDO __pyx_mstate_global->__pyx_n_s_SetToolDO
#define __pyx_n_s_SetToolList __pyx_mstate_global->__pyx_n_s_SetToolList
#define __pyx_n_s_SetToolPoint __pyx_mstate_global->__pyx_n_s_SetToolPoint
#define __pyx_n_s_SetTrajectoryJForceFx __pyx_mstate_global->__pyx_n_s_SetTrajectoryJForceFx
#define __pyx_n_s_SetTrajectoryJForceFy __pyx_mstate_global->__pyx_n_s_SetTrajectoryJForceFy
#define __pyx_n_s_SetTrajectoryJForceFz __pyx_mstate_global->__pyx_n_s_SetTrajectoryJForceFz
#define __pyx_n_s_SetTrajectoryJForceTorque __pyx_mstate_global->__pyx_n_s_SetTrajectoryJForceTorque
#define __pyx_n_s_SetTrajectoryJSpeed __pyx_mstate_global->__pyx_n_s_SetTrajectoryJSpeed
#define __pyx_n_s_SetTrajectoryJTorqueTx __pyx_mstate_global->__pyx_n_s_SetTrajectoryJTorqueTx
#define __pyx_n_s_SetTrajectoryJTorqueTy __pyx_mstate_global->__pyx_n_s_SetTrajectoryJTorqueTy
#define __pyx_n_s_SetTrajectoryJTorqueTz __pyx_mstate_global->__pyx_n_s_SetTrajectoryJTorqueTz
#define __pyx_n_s_SetWObjCoord __pyx_mstate_global->__pyx_n_s_SetWObjCoord
#define __pyx_n_s_SetWObjCoordPoint __pyx_mstate_global->__pyx_n_s_SetWObjCoordPoint
#define __pyx_n_s_SetWObjList __pyx_mstate_global->__pyx_n_s_SetWObjList
#define __pyx_n_s_SetWebTPDStop __pyx_mstate_global->__pyx_n_s_SetWebTPDStop
#define __pyx_n_s_SetWeldMachineCtrlMode __pyx_mstate_global->__pyx_n_s_SetWeldMachineCtrlMode
#define __pyx_n_s_SetWeldMachineCtrlModeExtDoNum __pyx_mstate_global->__pyx_n_s_SetWeldMachineCtrlModeExtDoNum
#define __pyx_n_s_SetWeldReadyExtDiNum __pyx_mstate_global->__pyx_n_s_SetWeldReadyExtDiNum
#define __pyx_n_s_SetWireForwardFeedExtDoNum __pyx_mstate_global->__pyx_n_s_SetWireForwardFeedExtDoNum
#define __pyx_n_s_SetWireReverseFeedExtDoNum __pyx_mstate_global->__pyx_n_s_SetWireReverseFeedExtDoNum
#define __pyx_n_s_SetWireSearchExtDIONum __pyx_mstate_global->__pyx_n_s_SetWireSearchExtDIONum
#define __pyx_n_s_ShutDownRobotOS __pyx_mstate_global->__pyx_n_s_ShutDownRobotOS
#define __pyx_n_s_SingularAvoidEnd __pyx_mstate_global->__pyx_n_s_SingularAvoidEnd
#define __pyx_n_s_SingularAvoidStart __pyx_mstate_global->__pyx_n_s_SingularAvoidStart
#define __pyx_n_s_SlaveFileWrite __pyx_mstate_global->__pyx_n_s_SlaveFileWrite
#define __pyx_n_s_SoftwareUpgrade __pyx_mstate_global->__pyx_n_s_SoftwareUpgrade
#define __pyx_kp_s_Software_Upload_success __pyx_mstate_global->__pyx_kp_s_Software_Upload_success
#define __pyx_n_s_SplineEnd __pyx_mstate_global->__pyx_n_s_SplineEnd
#define __pyx_n_s_SplinePTP __pyx_mstate_global->__pyx_n_s_SplinePTP
#define __pyx_n_s_SplineStart __pyx_mstate_global->__pyx_n_s_SplineStart
#define __pyx_n_s_StartJOG __pyx_mstate_global->__pyx_n_s_StartJOG
#define __pyx_n_s_StopJOG __pyx_mstate_global->__pyx_n_s_StopJOG
#define __pyx_n_s_StopMotion __pyx_mstate_global->__pyx_n_s_StopMotion
#define __pyx_n_s_StopMove __pyx_mstate_global->__pyx_n_s_StopMove
#define __pyx_n_s_Structure __pyx_mstate_global->__pyx_n_s_Structure
#define __pyx_n_s_Thread __pyx_mstate_global->__pyx_n_s_Thread
#define __pyx_n_s_ToolTrsfEnd __pyx_mstate_global->__pyx_n_s_ToolTrsfEnd
#define __pyx_n_s_ToolTrsfStart __pyx_mstate_global->__pyx_n_s_ToolTrsfStart
#define __pyx_n_s_TractorEnable __pyx_mstate_global->__pyx_n_s_TractorEnable
#define __pyx_n_s_TractorHoming __pyx_mstate_global->__pyx_n_s_TractorHoming
#define __pyx_n_s_TractorMoveC __pyx_mstate_global->__pyx_n_s_TractorMoveC
#define __pyx_n_s_TractorMoveL __pyx_mstate_global->__pyx_n_s_TractorMoveL
#define __pyx_n_s_TractorStop __pyx_mstate_global->__pyx_n_s_TractorStop
#define __pyx_n_s_TrajectoryJDelete __pyx_mstate_global->__pyx_n_s_TrajectoryJDelete
#define __pyx_n_s_TrajectoryJUpLoad __pyx_mstate_global->__pyx_n_s_TrajectoryJUpLoad
#define __pyx_n_s_UnloadCtrlOpenLUA __pyx_mstate_global->__pyx_n_s_UnloadCtrlOpenLUA
#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError
#define __pyx_n_s_Vmax __pyx_mstate_global->__pyx_n_s_Vmax
#define __pyx_n_s_WARNING __pyx_mstate_global->__pyx_n_s_WARNING
#define __pyx_n_s_WELDING_BREAKOFF_STATE __pyx_mstate_global->__pyx_n_s_WELDING_BREAKOFF_STATE
#define __pyx_n_s_WaitAI __pyx_mstate_global->__pyx_n_s_WaitAI
#define __pyx_n_s_WaitAuxAI __pyx_mstate_global->__pyx_n_s_WaitAuxAI
#define __pyx_n_s_WaitAuxDI __pyx_mstate_global->__pyx_n_s_WaitAuxDI
#define __pyx_n_s_WaitDI __pyx_mstate_global->__pyx_n_s_WaitDI
#define __pyx_n_s_WaitMs __pyx_mstate_global->__pyx_n_s_WaitMs
#define __pyx_n_s_WaitMultiDI __pyx_mstate_global->__pyx_n_s_WaitMultiDI
#define __pyx_n_s_WaitToolAI __pyx_mstate_global->__pyx_n_s_WaitToolAI
#define __pyx_n_s_WaitToolDI __pyx_mstate_global->__pyx_n_s_WaitToolDI
#define __pyx_n_s_WeaveChangeEnd __pyx_mstate_global->__pyx_n_s_WeaveChangeEnd
#define __pyx_n_s_WeaveChangeStart __pyx_mstate_global->__pyx_n_s_WeaveChangeStart
#define __pyx_n_s_WeaveEnd __pyx_mstate_global->__pyx_n_s_WeaveEnd
#define __pyx_n_s_WeaveEndSim __pyx_mstate_global->__pyx_n_s_WeaveEndSim
#define __pyx_n_s_WeaveInspectEnd __pyx_mstate_global->__pyx_n_s_WeaveInspectEnd
#define __pyx_n_s_WeaveInspectStart __pyx_mstate_global->__pyx_n_s_WeaveInspectStart
#define __pyx_n_s_WeaveOnlineSetPara __pyx_mstate_global->__pyx_n_s_WeaveOnlineSetPara
#define __pyx_n_s_WeaveSetPara __pyx_mstate_global->__pyx_n_s_WeaveSetPara
#define __pyx_n_s_WeaveStart __pyx_mstate_global->__pyx_n_s_WeaveStart
#define __pyx_n_s_WeaveStartSim __pyx_mstate_global->__pyx_n_s_WeaveStartSim
#define __pyx_n_s_WeldingAbortWeldAfterBreakOff __pyx_mstate_global->__pyx_n_s_WeldingAbortWeldAfterBreakOff
#define __pyx_n_s_WeldingGetCheckArcInterruptionPa __pyx_mstate_global->__pyx_n_s_WeldingGetCheckArcInterruptionPa
#define __pyx_n_s_WeldingGetCurrentRelation __pyx_mstate_global->__pyx_n_s_WeldingGetCurrentRelation
#define __pyx_n_s_WeldingGetProcessParam __pyx_mstate_global->__pyx_n_s_WeldingGetProcessParam
#define __pyx_n_s_WeldingGetReWeldAfterBreakOffPar __pyx_mstate_global->__pyx_n_s_WeldingGetReWeldAfterBreakOffPar
#define __pyx_n_s_WeldingGetVoltageRelation __pyx_mstate_global->__pyx_n_s_WeldingGetVoltageRelation
#define __pyx_n_s_WeldingSetCheckArcInterruptionPa __pyx_mstate_global->__pyx_n_s_WeldingSetCheckArcInterruptionPa
#define __pyx_n_s_WeldingSetCurrent __pyx_mstate_global->__pyx_n_s_WeldingSetCurrent
#define __pyx_n_s_WeldingSetCurrentRelation __pyx_mstate_global->__pyx_n_s_WeldingSetCurrentRelation
#define __pyx_n_s_WeldingSetProcessParam __pyx_mstate_global->__pyx_n_s_WeldingSetProcessParam
#define __pyx_n_s_WeldingSetReWeldAfterBreakOffPar __pyx_mstate_global->__pyx_n_s_WeldingSetReWeldAfterBreakOffPar
#define __pyx_n_s_WeldingSetVoltage __pyx_mstate_global->__pyx_n_s_WeldingSetVoltage
#define __pyx_n_s_WeldingSetVoltageRelation __pyx_mstate_global->__pyx_n_s_WeldingSetVoltageRelation
#define __pyx_n_s_WeldingStartReWeldAfterBreakOff __pyx_mstate_global->__pyx_n_s_WeldingStartReWeldAfterBreakOff
#define __pyx_n_s_WireSearchEnd __pyx_mstate_global->__pyx_n_s_WireSearchEnd
#define __pyx_n_s_WireSearchStart __pyx_mstate_global->__pyx_n_s_WireSearchStart
#define __pyx_n_s_WireSearchWait __pyx_mstate_global->__pyx_n_s_WireSearchWait
#define __pyx_kp_s_XML_RPC_connection_timed_out __pyx_mstate_global->__pyx_kp_s_XML_RPC_connection_timed_out
#define __pyx_kp_s_Y_m_d __pyx_mstate_global->__pyx_kp_s_Y_m_d
#define __pyx_kp_s__10 __pyx_mstate_global->__pyx_kp_s__10
#define __pyx_n_u__12 __pyx_mstate_global->__pyx_n_u__12
#define __pyx_kp_s__14 __pyx_mstate_global->__pyx_kp_s__14
#define __pyx_kp_u__16 __pyx_mstate_global->__pyx_kp_u__16
#define __pyx_kp_u__17 __pyx_mstate_global->__pyx_kp_u__17
#define __pyx_kp_s__18 __pyx_mstate_global->__pyx_kp_s__18
#define __pyx_kp_s__22 __pyx_mstate_global->__pyx_kp_s__22
#define __pyx_kp_s__24 __pyx_mstate_global->__pyx_kp_s__24
#define __pyx_kp_u__25 __pyx_mstate_global->__pyx_kp_u__25
#define __pyx_kp_u__26 __pyx_mstate_global->__pyx_kp_u__26
#define __pyx_kp_s__27 __pyx_mstate_global->__pyx_kp_s__27
#define __pyx_kp_u__27 __pyx_mstate_global->__pyx_kp_u__27
#define __pyx_kp_s__28 __pyx_mstate_global->__pyx_kp_s__28
#define __pyx_kp_u__29 __pyx_mstate_global->__pyx_kp_u__29
#define __pyx_kp_s__36 __pyx_mstate_global->__pyx_kp_s__36
#define __pyx_n_s__39 __pyx_mstate_global->__pyx_n_s__39
#define __pyx_kp_s__6 __pyx_mstate_global->__pyx_kp_s__6
#define __pyx_n_s__718 __pyx_mstate_global->__pyx_n_s__718
#define __pyx_kp_s__8 __pyx_mstate_global->__pyx_kp_s__8
#define __pyx_n_s_a __pyx_mstate_global->__pyx_n_s_a
#define __pyx_n_s_abortWeldDINum __pyx_mstate_global->__pyx_n_s_abortWeldDINum
#define __pyx_n_s_abspath __pyx_mstate_global->__pyx_n_s_abspath
#define __pyx_n_s_acc __pyx_mstate_global->__pyx_n_s_acc
#define __pyx_n_s_acc_p __pyx_mstate_global->__pyx_n_s_acc_p
#define __pyx_n_s_acc_t __pyx_mstate_global->__pyx_n_s_acc_t
#define __pyx_n_s_actFlag __pyx_mstate_global->__pyx_n_s_actFlag
#define __pyx_n_s_action __pyx_mstate_global->__pyx_n_s_action
#define __pyx_n_s_actual_TCP_CmpSpeed __pyx_mstate_global->__pyx_n_s_actual_TCP_CmpSpeed
#define __pyx_n_s_actual_TCP_Speed __pyx_mstate_global->__pyx_n_s_actual_TCP_Speed
#define __pyx_n_s_actual_qd __pyx_mstate_global->__pyx_n_s_actual_qd
#define __pyx_n_s_actual_qdd __pyx_mstate_global->__pyx_n_s_actual_qdd
#define __pyx_n_s_addHandler __pyx_mstate_global->__pyx_n_s_addHandler
#define __pyx_n_s_additionalStayTime __pyx_mstate_global->__pyx_n_s_additionalStayTime
#define __pyx_n_s_adj_sign __pyx_mstate_global->__pyx_n_s_adj_sign
#define __pyx_n_s_airControl __pyx_mstate_global->__pyx_n_s_airControl
#define __pyx_n_s_alarm __pyx_mstate_global->__pyx_n_s_alarm
#define __pyx_kp_s_alldatasource_tar_gz __pyx_mstate_global->__pyx_kp_s_alldatasource_tar_gz
#define __pyx_n_s_amax __pyx_mstate_global->__pyx_n_s_amax
#define __pyx_n_s_angAccmax __pyx_mstate_global->__pyx_n_s_angAccmax
#define __pyx_n_s_angVelRot __pyx_mstate_global->__pyx_n_s_angVelRot
#define __pyx_n_s_angle __pyx_mstate_global->__pyx_n_s_angle
#define __pyx_n_s_angleMax __pyx_mstate_global->__pyx_n_s_angleMax
#define __pyx_n_s_append __pyx_mstate_global->__pyx_n_s_append
#define __pyx_n_s_arcInterruptTimeLength __pyx_mstate_global->__pyx_n_s_arcInterruptTimeLength
#define __pyx_n_s_arcNum __pyx_mstate_global->__pyx_n_s_arcNum
#define __pyx_n_s_args __pyx_mstate_global->__pyx_n_s_args
#define __pyx_n_s_args_str __pyx_mstate_global->__pyx_n_s_args_str
#define __pyx_n_s_asaptiveFlag __pyx_mstate_global->__pyx_n_s_asaptiveFlag
#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines
#define __pyx_n_s_attempt __pyx_mstate_global->__pyx_n_s_attempt
#define __pyx_n_s_autoBackDis __pyx_mstate_global->__pyx_n_s_autoBackDis
#define __pyx_n_s_autoBackFlag __pyx_mstate_global->__pyx_n_s_autoBackFlag
#define __pyx_n_s_autoBackVel __pyx_mstate_global->__pyx_n_s_autoBackVel
#define __pyx_n_s_auxState __pyx_mstate_global->__pyx_n_s_auxState
#define __pyx_n_s_averageTime __pyx_mstate_global->__pyx_n_s_averageTime
#define __pyx_n_s_axis __pyx_mstate_global->__pyx_n_s_axis
#define __pyx_n_s_axisAcc __pyx_mstate_global->__pyx_n_s_axisAcc
#define __pyx_n_s_axisCompany __pyx_mstate_global->__pyx_n_s_axisCompany
#define __pyx_n_s_axisConfig __pyx_mstate_global->__pyx_n_s_axisConfig
#define __pyx_n_s_axisCoordNum __pyx_mstate_global->__pyx_n_s_axisCoordNum
#define __pyx_n_s_axisDHa1 __pyx_mstate_global->__pyx_n_s_axisDHa1
#define __pyx_n_s_axisDHa2 __pyx_mstate_global->__pyx_n_s_axisDHa2
#define __pyx_n_s_axisDHa3 __pyx_mstate_global->__pyx_n_s_axisDHa3
#define __pyx_n_s_axisDHa4 __pyx_mstate_global->__pyx_n_s_axisDHa4
#define __pyx_n_s_axisDHd1 __pyx_mstate_global->__pyx_n_s_axisDHd1
#define __pyx_n_s_axisDHd2 __pyx_mstate_global->__pyx_n_s_axisDHd2
#define __pyx_n_s_axisDHd3 __pyx_mstate_global->__pyx_n_s_axisDHd3
#define __pyx_n_s_axisDHd4 __pyx_mstate_global->__pyx_n_s_axisDHd4
#define __pyx_n_s_axisDirection __pyx_mstate_global->__pyx_n_s_axisDirection
#define __pyx_n_s_axisEncType __pyx_mstate_global->__pyx_n_s_axisEncType
#define __pyx_n_s_axisID __pyx_mstate_global->__pyx_n_s_axisID
#define __pyx_n_s_axisId __pyx_mstate_global->__pyx_n_s_axisId
#define __pyx_n_s_axisLead __pyx_mstate_global->__pyx_n_s_axisLead
#define __pyx_n_s_axisMax __pyx_mstate_global->__pyx_n_s_axisMax
#define __pyx_n_s_axisMechTransRatio __pyx_mstate_global->__pyx_n_s_axisMechTransRatio
#define __pyx_n_s_axisMin __pyx_mstate_global->__pyx_n_s_axisMin
#define __pyx_n_s_axisModel __pyx_mstate_global->__pyx_n_s_axisModel
#define __pyx_n_s_axisOffect __pyx_mstate_global->__pyx_n_s_axisOffect
#define __pyx_n_s_axisPos __pyx_mstate_global->__pyx_n_s_axisPos
#define __pyx_n_s_axisSelect __pyx_mstate_global->__pyx_n_s_axisSelect
#define __pyx_n_s_axisType __pyx_mstate_global->__pyx_n_s_axisType
#define __pyx_n_s_axisVel __pyx_mstate_global->__pyx_n_s_axisVel
#define __pyx_n_s_bOpen __pyx_mstate_global->__pyx_n_s_bOpen
#define __pyx_kp_s_b_f __pyx_mstate_global->__pyx_kp_s_b_f
#define __pyx_n_s_backupCount __pyx_mstate_global->__pyx_n_s_backupCount
#define __pyx_n_s_basename __pyx_mstate_global->__pyx_n_s_basename
#define __pyx_n_s_baudRate __pyx_mstate_global->__pyx_n_s_baudRate
#define __pyx_n_s_blend __pyx_mstate_global->__pyx_n_s_blend
#define __pyx_n_s_blendR __pyx_mstate_global->__pyx_n_s_blendR
#define __pyx_n_s_blendT __pyx_mstate_global->__pyx_n_s_blendT
#define __pyx_n_s_block __pyx_mstate_global->__pyx_n_s_block
#define __pyx_n_s_breakOffState __pyx_mstate_global->__pyx_n_s_breakOffState
#define __pyx_n_s_buffer __pyx_mstate_global->__pyx_n_s_buffer
#define __pyx_n_s_bus __pyx_mstate_global->__pyx_n_s_bus
#define __pyx_n_s_c_byte __pyx_mstate_global->__pyx_n_s_c_byte
#define __pyx_n_s_c_double __pyx_mstate_global->__pyx_n_s_c_double
#define __pyx_n_s_c_float __pyx_mstate_global->__pyx_n_s_c_float
#define __pyx_n_s_c_int __pyx_mstate_global->__pyx_n_s_c_int
#define __pyx_n_s_c_uint16 __pyx_mstate_global->__pyx_n_s_c_uint16
#define __pyx_n_s_c_uint8 __pyx_mstate_global->__pyx_n_s_c_uint8
#define __pyx_n_s_c_ushort __pyx_mstate_global->__pyx_n_s_c_ushort
#define __pyx_n_s_calculate_file_md5 __pyx_mstate_global->__pyx_n_s_calculate_file_md5
#define __pyx_n_s_calibFlag __pyx_mstate_global->__pyx_n_s_calibFlag
#define __pyx_n_s_call_message __pyx_mstate_global->__pyx_n_s_call_message
#define __pyx_n_s_channel __pyx_mstate_global->__pyx_n_s_channel
#define __pyx_n_s_checkEnable __pyx_mstate_global->__pyx_n_s_checkEnable
#define __pyx_n_s_check_md5 __pyx_mstate_global->__pyx_n_s_check_md5
#define __pyx_n_s_check_sum __pyx_mstate_global->__pyx_n_s_check_sum
#define __pyx_n_s_checkdata __pyx_mstate_global->__pyx_n_s_checkdata
#define __pyx_n_s_checksum __pyx_mstate_global->__pyx_n_s_checksum
#define __pyx_n_s_chunk __pyx_mstate_global->__pyx_n_s_chunk
#define __pyx_n_s_cl_analog_input __pyx_mstate_global->__pyx_n_s_cl_analog_input
#define __pyx_n_s_cl_analog_output __pyx_mstate_global->__pyx_n_s_cl_analog_output
#define __pyx_n_s_cl_dgt_input_h __pyx_mstate_global->__pyx_n_s_cl_dgt_input_h
#define __pyx_n_s_cl_dgt_input_l __pyx_mstate_global->__pyx_n_s_cl_dgt_input_l
#define __pyx_n_s_cl_dgt_output_h __pyx_mstate_global->__pyx_n_s_cl_dgt_output_h
#define __pyx_n_s_cl_dgt_output_l __pyx_mstate_global->__pyx_n_s_cl_dgt_output_l
#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem
#define __pyx_n_s_client __pyx_mstate_global->__pyx_n_s_client
#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback
#define __pyx_n_s_close __pyx_mstate_global->__pyx_n_s_close
#define __pyx_n_s_closeRPC_state __pyx_mstate_global->__pyx_n_s_closeRPC_state
#define __pyx_n_s_cmdT __pyx_mstate_global->__pyx_n_s_cmdT
#define __pyx_n_s_cmp __pyx_mstate_global->__pyx_n_s_cmp
#define __pyx_n_s_coeff __pyx_mstate_global->__pyx_n_s_coeff
#define __pyx_n_s_collisionState __pyx_mstate_global->__pyx_n_s_collisionState
#define __pyx_n_s_company __pyx_mstate_global->__pyx_n_s_company
#define __pyx_n_s_config __pyx_mstate_global->__pyx_n_s_config
#define __pyx_n_s_connect __pyx_mstate_global->__pyx_n_s_connect
#define __pyx_n_s_connect_to_robot __pyx_mstate_global->__pyx_n_s_connect_to_robot
#define __pyx_n_s_coord __pyx_mstate_global->__pyx_n_s_coord
#define __pyx_n_s_coordId __pyx_mstate_global->__pyx_n_s_coordId
#define __pyx_n_s_ctypes __pyx_mstate_global->__pyx_n_s_ctypes
#define __pyx_n_s_current __pyx_mstate_global->__pyx_n_s_current
#define __pyx_n_s_currentMax __pyx_mstate_global->__pyx_n_s_currentMax
#define __pyx_n_s_currentMin __pyx_mstate_global->__pyx_n_s_currentMin
#define __pyx_n_s_current_datetime __pyx_mstate_global->__pyx_n_s_current_datetime
#define __pyx_n_s_daemon __pyx_mstate_global->__pyx_n_s_daemon
#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data
#define __pyx_n_s_data1 __pyx_mstate_global->__pyx_n_s_data1
#define __pyx_n_s_data2 __pyx_mstate_global->__pyx_n_s_data2
#define __pyx_n_s_dataBit __pyx_mstate_global->__pyx_n_s_dataBit
#define __pyx_n_s_data_len __pyx_mstate_global->__pyx_n_s_data_len
#define __pyx_n_s_datetime __pyx_mstate_global->__pyx_n_s_datetime
#define __pyx_n_s_day __pyx_mstate_global->__pyx_n_s_day
#define __pyx_n_s_debug __pyx_mstate_global->__pyx_n_s_debug
#define __pyx_n_s_dec __pyx_mstate_global->__pyx_n_s_dec
#define __pyx_n_s_decode __pyx_mstate_global->__pyx_n_s_decode
#define __pyx_n_s_del __pyx_mstate_global->__pyx_n_s_del
#define __pyx_n_s_delay __pyx_mstate_global->__pyx_n_s_delay
#define __pyx_n_s_delayDis __pyx_mstate_global->__pyx_n_s_delayDis
#define __pyx_n_s_delayDisExAxisNum __pyx_mstate_global->__pyx_n_s_delayDisExAxisNum
#define __pyx_n_s_delayMode __pyx_mstate_global->__pyx_n_s_delayMode
#define __pyx_n_s_delayTime __pyx_mstate_global->__pyx_n_s_delayTime
#define __pyx_n_s_delaytime __pyx_mstate_global->__pyx_n_s_delaytime
#define __pyx_n_s_desc_pos __pyx_mstate_global->__pyx_n_s_desc_pos
#define __pyx_n_s_desc_pos_p __pyx_mstate_global->__pyx_n_s_desc_pos_p
#define __pyx_n_s_desc_pos_t __pyx_mstate_global->__pyx_n_s_desc_pos_t
#define __pyx_n_s_devAddr __pyx_mstate_global->__pyx_n_s_devAddr
#define __pyx_n_s_device __pyx_mstate_global->__pyx_n_s_device
#define __pyx_n_s_di_choose __pyx_mstate_global->__pyx_n_s_di_choose
#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict
#define __pyx_n_s_dir __pyx_mstate_global->__pyx_n_s_dir
#define __pyx_n_s_direction __pyx_mstate_global->__pyx_n_s_direction
#define __pyx_n_s_directionPoint __pyx_mstate_global->__pyx_n_s_directionPoint
#define __pyx_n_s_directory __pyx_mstate_global->__pyx_n_s_directory
#define __pyx_n_s_dirname __pyx_mstate_global->__pyx_n_s_dirname
#define __pyx_n_s_disMax __pyx_mstate_global->__pyx_n_s_disMax
#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable
#define __pyx_n_s_disconnectTime __pyx_mstate_global->__pyx_n_s_disconnectTime
#define __pyx_n_s_distance __pyx_mstate_global->__pyx_n_s_distance
#define __pyx_n_s_do_choose __pyx_mstate_global->__pyx_n_s_do_choose
#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc
#define __pyx_n_s_dr __pyx_mstate_global->__pyx_n_s_dr
#define __pyx_n_s_dragMaxTcpOriVel __pyx_mstate_global->__pyx_n_s_dragMaxTcpOriVel
#define __pyx_n_s_dragMaxTcpVel __pyx_mstate_global->__pyx_n_s_dragMaxTcpVel
#define __pyx_n_s_dry __pyx_mstate_global->__pyx_n_s_dry
#define __pyx_n_s_dx __pyx_mstate_global->__pyx_n_s_dx
#define __pyx_n_s_dz __pyx_mstate_global->__pyx_n_s_dz
#define __pyx_n_s_e __pyx_mstate_global->__pyx_n_s_e
#define __pyx_n_s_emit __pyx_mstate_global->__pyx_n_s_emit
#define __pyx_n_s_enable __pyx_mstate_global->__pyx_n_s_enable
#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable
#define __pyx_n_s_encResolution __pyx_mstate_global->__pyx_n_s_encResolution
#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode
#define __pyx_n_s_encoding __pyx_mstate_global->__pyx_n_s_encoding
#define __pyx_n_s_endCurrent __pyx_mstate_global->__pyx_n_s_endCurrent
#define __pyx_n_s_endDesePos __pyx_mstate_global->__pyx_n_s_endDesePos
#define __pyx_n_s_endDis __pyx_mstate_global->__pyx_n_s_endDis
#define __pyx_n_s_endJPos __pyx_mstate_global->__pyx_n_s_endJPos
#define __pyx_n_s_endLuaErrCode __pyx_mstate_global->__pyx_n_s_endLuaErrCode
#define __pyx_n_s_endOffPos __pyx_mstate_global->__pyx_n_s_endOffPos
#define __pyx_n_s_endPos __pyx_mstate_global->__pyx_n_s_endPos
#define __pyx_n_s_endTime __pyx_mstate_global->__pyx_n_s_endTime
#define __pyx_n_s_endVoltage __pyx_mstate_global->__pyx_n_s_endVoltage
#define __pyx_n_s_end_data __pyx_mstate_global->__pyx_n_s_end_data
#define __pyx_n_s_enter __pyx_mstate_global->__pyx_n_s_enter
#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error
#define __pyx_n_s_error1 __pyx_mstate_global->__pyx_n_s_error1
#define __pyx_n_s_errorAlarm __pyx_mstate_global->__pyx_n_s_errorAlarm
#define __pyx_n_s_errorAlarm_flag __pyx_mstate_global->__pyx_n_s_errorAlarm_flag
#define __pyx_n_s_errorCode __pyx_mstate_global->__pyx_n_s_errorCode
#define __pyx_n_s_errorLim __pyx_mstate_global->__pyx_n_s_errorLim
#define __pyx_n_s_error_2 __pyx_mstate_global->__pyx_n_s_error_2
#define __pyx_kp_s_error_happended __pyx_mstate_global->__pyx_kp_s_error_happended
#define __pyx_n_s_error_str __pyx_mstate_global->__pyx_n_s_error_str
#define __pyx_n_s_etcp __pyx_mstate_global->__pyx_n_s_etcp
#define __pyx_n_s_etool __pyx_mstate_global->__pyx_n_s_etool
#define __pyx_n_s_ex __pyx_mstate_global->__pyx_n_s_ex
#define __pyx_n_s_exaxis_pos __pyx_mstate_global->__pyx_n_s_exaxis_pos
#define __pyx_n_s_exaxis_pos_p __pyx_mstate_global->__pyx_n_s_exaxis_pos_p
#define __pyx_n_s_exaxis_pos_t __pyx_mstate_global->__pyx_n_s_exaxis_pos_t
#define __pyx_kp_s_execute_SoftwareUpgrade_fail __pyx_mstate_global->__pyx_kp_s_execute_SoftwareUpgrade_fail
#define __pyx_n_s_exists __pyx_mstate_global->__pyx_n_s_exists
#define __pyx_n_s_exit __pyx_mstate_global->__pyx_n_s_exit
#define __pyx_n_s_extAIState __pyx_mstate_global->__pyx_n_s_extAIState
#define __pyx_n_s_extAOState __pyx_mstate_global->__pyx_n_s_extAOState
#define __pyx_n_s_extAxisStatus __pyx_mstate_global->__pyx_n_s_extAxisStatus
#define __pyx_n_s_extDIState __pyx_mstate_global->__pyx_n_s_extDIState
#define __pyx_n_s_extDOState __pyx_mstate_global->__pyx_n_s_extDOState
#define __pyx_n_s_f __pyx_mstate_global->__pyx_n_s_f
#define __pyx_kp_s_f_b __pyx_mstate_global->__pyx_kp_s_f_b
#define __pyx_kp_u_f_b __pyx_mstate_global->__pyx_kp_u_f_b
#define __pyx_kp_s_f_bIII0III102III4IIIStopIII_b_f __pyx_mstate_global->__pyx_kp_s_f_bIII0III102III4IIIStopIII_b_f
#define __pyx_kp_s_f_bIII0III103III5IIIPAUSEIII_b __pyx_mstate_global->__pyx_kp_s_f_bIII0III103III5IIIPAUSEIII_b
#define __pyx_kp_s_f_bIII0III104III6IIIRESUMEIII_b __pyx_mstate_global->__pyx_kp_s_f_bIII0III104III6IIIRESUMEIII_b
#define __pyx_kp_s_f_bIII19III240III14IIIStopExtAx __pyx_mstate_global->__pyx_kp_s_f_bIII19III240III14IIIStopExtAx
#define __pyx_kp_s_f_bIII_dIII1149III25IIIConveyor __pyx_mstate_global->__pyx_kp_s_f_bIII_dIII1149III25IIIConveyor
#define __pyx_kp_s_fail_to_update_lua_please_inspec __pyx_mstate_global->__pyx_kp_s_fail_to_update_lua_please_inspec
#define __pyx_n_s_fairino __pyx_mstate_global->__pyx_n_s_fairino
#define __pyx_n_s_fields __pyx_mstate_global->__pyx_n_s_fields
#define __pyx_n_s_file __pyx_mstate_global->__pyx_n_s_file
#define __pyx_n_s_fileName __pyx_mstate_global->__pyx_n_s_fileName
#define __pyx_n_s_filePath __pyx_mstate_global->__pyx_n_s_filePath
#define __pyx_n_s_fileType __pyx_mstate_global->__pyx_n_s_fileType
#define __pyx_n_s_file_buffer __pyx_mstate_global->__pyx_n_s_file_buffer
#define __pyx_n_s_file_bytes __pyx_mstate_global->__pyx_n_s_file_bytes
#define __pyx_n_s_file_info __pyx_mstate_global->__pyx_n_s_file_info
#define __pyx_n_s_file_name __pyx_mstate_global->__pyx_n_s_file_name
#define __pyx_n_s_file_num __pyx_mstate_global->__pyx_n_s_file_num
#define __pyx_n_s_file_path __pyx_mstate_global->__pyx_n_s_file_path
#define __pyx_n_s_file_writer __pyx_mstate_global->__pyx_n_s_file_writer
#define __pyx_n_s_filename __pyx_mstate_global->__pyx_n_s_filename
#define __pyx_n_s_filterT __pyx_mstate_global->__pyx_n_s_filterT
#define __pyx_n_s_filterTime __pyx_mstate_global->__pyx_n_s_filterTime
#define __pyx_n_s_filter_Sign __pyx_mstate_global->__pyx_n_s_filter_Sign
#define __pyx_n_s_find_head_flag __pyx_mstate_global->__pyx_n_s_find_head_flag
#define __pyx_n_s_flag __pyx_mstate_global->__pyx_n_s_flag
#define __pyx_n_s_flag_tmp __pyx_mstate_global->__pyx_n_s_flag_tmp
#define __pyx_n_s_flange_cur_pos __pyx_mstate_global->__pyx_n_s_flange_cur_pos
#define __pyx_n_s_flerr __pyx_mstate_global->__pyx_n_s_flerr
#define __pyx_n_s_flush __pyx_mstate_global->__pyx_n_s_flush
#define __pyx_n_s_followType __pyx_mstate_global->__pyx_n_s_followType
#define __pyx_n_s_force __pyx_mstate_global->__pyx_n_s_force
#define __pyx_n_s_forceSensorEnable __pyx_mstate_global->__pyx_n_s_forceSensorEnable
#define __pyx_n_s_force_torque __pyx_mstate_global->__pyx_n_s_force_torque
#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format
#define __pyx_n_s_formatted_date __pyx_mstate_global->__pyx_n_s_formatted_date
#define __pyx_n_s_formatter __pyx_mstate_global->__pyx_n_s_formatter
#define __pyx_kp_s_fr_user_data_tar_gz __pyx_mstate_global->__pyx_kp_s_fr_user_data_tar_gz
#define __pyx_n_s_frame_cnt __pyx_mstate_global->__pyx_n_s_frame_cnt
#define __pyx_n_s_frame_head __pyx_mstate_global->__pyx_n_s_frame_head
#define __pyx_n_s_from_buffer_copy __pyx_mstate_global->__pyx_n_s_from_buffer_copy
#define __pyx_n_s_fs __pyx_mstate_global->__pyx_n_s_fs
#define __pyx_n_s_ft __pyx_mstate_global->__pyx_n_s_ft
#define __pyx_n_s_ft_sensor_active __pyx_mstate_global->__pyx_n_s_ft_sensor_active
#define __pyx_n_s_ft_sensor_data __pyx_mstate_global->__pyx_n_s_ft_sensor_data
#define __pyx_n_s_ft_sensor_raw_data __pyx_mstate_global->__pyx_n_s_ft_sensor_raw_data
#define __pyx_n_s_func __pyx_mstate_global->__pyx_n_s_func
#define __pyx_n_s_functools __pyx_mstate_global->__pyx_n_s_functools
#define __pyx_n_s_fx __pyx_mstate_global->__pyx_n_s_fx
#define __pyx_n_s_fy __pyx_mstate_global->__pyx_n_s_fy
#define __pyx_n_s_fz __pyx_mstate_global->__pyx_n_s_fz
#define __pyx_n_s_g_sock_com_err __pyx_mstate_global->__pyx_n_s_g_sock_com_err
#define __pyx_n_s_gain __pyx_mstate_global->__pyx_n_s_gain
#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc
#define __pyx_n_s_get __pyx_mstate_global->__pyx_n_s_get
#define __pyx_n_s_getLogger __pyx_mstate_global->__pyx_n_s_getLogger
#define __pyx_kp_s_get_get_Teaching_Point_size_fail __pyx_mstate_global->__pyx_kp_s_get_get_Teaching_Point_size_fail
#define __pyx_n_s_getcwd __pyx_mstate_global->__pyx_n_s_getcwd
#define __pyx_n_s_getsegmentrtn __pyx_mstate_global->__pyx_n_s_getsegmentrtn
#define __pyx_n_s_getsize __pyx_mstate_global->__pyx_n_s_getsize
#define __pyx_n_s_gripperEnable __pyx_mstate_global->__pyx_n_s_gripperEnable
#define __pyx_n_s_gripperRotNum __pyx_mstate_global->__pyx_n_s_gripperRotNum
#define __pyx_n_s_gripperRotSpeed __pyx_mstate_global->__pyx_n_s_gripperRotSpeed
#define __pyx_n_s_gripperRotTorque __pyx_mstate_global->__pyx_n_s_gripperRotTorque
#define __pyx_n_s_gripper_active __pyx_mstate_global->__pyx_n_s_gripper_active
#define __pyx_n_s_gripper_current __pyx_mstate_global->__pyx_n_s_gripper_current
#define __pyx_n_s_gripper_fault __pyx_mstate_global->__pyx_n_s_gripper_fault
#define __pyx_n_s_gripper_fault_id __pyx_mstate_global->__pyx_n_s_gripper_fault_id
#define __pyx_n_s_gripper_motiondone __pyx_mstate_global->__pyx_n_s_gripper_motiondone
#define __pyx_n_s_gripper_position __pyx_mstate_global->__pyx_n_s_gripper_position
#define __pyx_n_s_gripper_speed __pyx_mstate_global->__pyx_n_s_gripper_speed
#define __pyx_n_s_gripper_tmp __pyx_mstate_global->__pyx_n_s_gripper_tmp
#define __pyx_n_s_gripper_voltage __pyx_mstate_global->__pyx_n_s_gripper_voltage
#define __pyx_n_s_hashlib __pyx_mstate_global->__pyx_n_s_hashlib
#define __pyx_n_s_head_data __pyx_mstate_global->__pyx_n_s_head_data
#define __pyx_n_s_hexdigest __pyx_mstate_global->__pyx_n_s_hexdigest
#define __pyx_n_s_homingStatus __pyx_mstate_global->__pyx_n_s_homingStatus
#define __pyx_n_s_hour __pyx_mstate_global->__pyx_n_s_hour
#define __pyx_kp_s_http __pyx_mstate_global->__pyx_kp_s_http
#define __pyx_n_s_i __pyx_mstate_global->__pyx_n_s_i
#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id
#define __pyx_n_s_idBus __pyx_mstate_global->__pyx_n_s_idBus
#define __pyx_n_s_idCompany __pyx_mstate_global->__pyx_n_s_idCompany
#define __pyx_n_s_idDevice __pyx_mstate_global->__pyx_n_s_idDevice
#define __pyx_n_s_idSoftware __pyx_mstate_global->__pyx_n_s_idSoftware
#define __pyx_n_s_impedanceFlag __pyx_mstate_global->__pyx_n_s_impedanceFlag
#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import
#define __pyx_n_s_inPos __pyx_mstate_global->__pyx_n_s_inPos
#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index
#define __pyx_n_s_info __pyx_mstate_global->__pyx_n_s_info
#define __pyx_n_s_ingularityConstraintsFlag __pyx_mstate_global->__pyx_n_s_ingularityConstraintsFlag
#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init
#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass
#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing
#define __pyx_n_s_install __pyx_mstate_global->__pyx_n_s_install
#define __pyx_n_s_installType __pyx_mstate_global->__pyx_n_s_installType
#define __pyx_n_s_interfereDragFlag __pyx_mstate_global->__pyx_n_s_interfereDragFlag
#define __pyx_n_s_interval __pyx_mstate_global->__pyx_n_s_interval
#define __pyx_n_s_ioType __pyx_mstate_global->__pyx_n_s_ioType
#define __pyx_n_s_ip __pyx_mstate_global->__pyx_n_s_ip
#define __pyx_n_s_ip_address __pyx_mstate_global->__pyx_n_s_ip_address
#define __pyx_n_s_isLeftRight __pyx_mstate_global->__pyx_n_s_isLeftRight
#define __pyx_n_s_isNoBlock __pyx_mstate_global->__pyx_n_s_isNoBlock
#define __pyx_n_s_isNoBlock_flag __pyx_mstate_global->__pyx_n_s_isNoBlock_flag
#define __pyx_n_s_isUpLow __pyx_mstate_global->__pyx_n_s_isUpLow
#define __pyx_n_s_isWeave __pyx_mstate_global->__pyx_n_s_isWeave
#define __pyx_n_s_is_alive __pyx_mstate_global->__pyx_n_s_is_alive
#define __pyx_n_s_is_conect __pyx_mstate_global->__pyx_n_s_is_conect
#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine
#define __pyx_n_s_is_init __pyx_mstate_global->__pyx_n_s_is_init
#define __pyx_n_s_is_set __pyx_mstate_global->__pyx_n_s_is_set
#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled
#define __pyx_n_s_items __pyx_mstate_global->__pyx_n_s_items
#define __pyx_n_s_jmax __pyx_mstate_global->__pyx_n_s_jmax
#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join
#define __pyx_n_s_join_logging_thread __pyx_mstate_global->__pyx_n_s_join_logging_thread
#define __pyx_n_s_joint __pyx_mstate_global->__pyx_n_s_joint
#define __pyx_n_s_jointDetectionThreshould __pyx_mstate_global->__pyx_n_s_jointDetectionThreshould
#define __pyx_n_s_jointDriverTemperature __pyx_mstate_global->__pyx_n_s_jointDriverTemperature
#define __pyx_n_s_jointDriverTorque __pyx_mstate_global->__pyx_n_s_jointDriverTorque
#define __pyx_n_s_joint_pos __pyx_mstate_global->__pyx_n_s_joint_pos
#define __pyx_n_s_joint_pos_p __pyx_mstate_global->__pyx_n_s_joint_pos_p
#define __pyx_n_s_joint_pos_ref __pyx_mstate_global->__pyx_n_s_joint_pos_ref
#define __pyx_n_s_joint_pos_t __pyx_mstate_global->__pyx_n_s_joint_pos_t
#define __pyx_n_s_joint_torque __pyx_mstate_global->__pyx_n_s_joint_torque
#define __pyx_n_s_jt_cur_pos __pyx_mstate_global->__pyx_n_s_jt_cur_pos
#define __pyx_n_s_jt_cur_tor __pyx_mstate_global->__pyx_n_s_jt_cur_tor
#define __pyx_n_s_key __pyx_mstate_global->__pyx_n_s_key
#define __pyx_n_s_klr __pyx_mstate_global->__pyx_n_s_klr
#define __pyx_n_s_kud __pyx_mstate_global->__pyx_n_s_kud
#define __pyx_n_s_kwargs __pyx_mstate_global->__pyx_n_s_kwargs
#define __pyx_n_s_kwargs_str __pyx_mstate_global->__pyx_n_s_kwargs_str
#define __pyx_n_s_lamdeDain __pyx_mstate_global->__pyx_n_s_lamdeDain
#define __pyx_n_s_lastFlag __pyx_mstate_global->__pyx_n_s_lastFlag
#define __pyx_n_s_latchVel __pyx_mstate_global->__pyx_n_s_latchVel
#define __pyx_n_s_length __pyx_mstate_global->__pyx_n_s_length
#define __pyx_n_s_level __pyx_mstate_global->__pyx_n_s_level
#define __pyx_kp_s_levelname_s_asctime_s_pid_proce __pyx_mstate_global->__pyx_kp_s_levelname_s_asctime_s_pid_proce
#define __pyx_n_s_levels __pyx_mstate_global->__pyx_n_s_levels
#define __pyx_n_s_lin_a __pyx_mstate_global->__pyx_n_s_lin_a
#define __pyx_n_s_lin_v __pyx_mstate_global->__pyx_n_s_lin_v
#define __pyx_n_s_link __pyx_mstate_global->__pyx_n_s_link
#define __pyx_n_s_linorn __pyx_mstate_global->__pyx_n_s_linorn
#define __pyx_n_s_loadNum __pyx_mstate_global->__pyx_n_s_loadNum
#define __pyx_n_s_lock __pyx_mstate_global->__pyx_n_s_lock
#define __pyx_kp_s_log __pyx_mstate_global->__pyx_kp_s_log
#define __pyx_n_s_log_call __pyx_mstate_global->__pyx_n_s_log_call
#define __pyx_n_s_log_debug __pyx_mstate_global->__pyx_n_s_log_debug
#define __pyx_n_s_log_entry __pyx_mstate_global->__pyx_n_s_log_entry
#define __pyx_n_s_log_error __pyx_mstate_global->__pyx_n_s_log_error
#define __pyx_n_s_log_handler __pyx_mstate_global->__pyx_n_s_log_handler
#define __pyx_n_s_log_info __pyx_mstate_global->__pyx_n_s_log_info
#define __pyx_n_s_log_level __pyx_mstate_global->__pyx_n_s_log_level
#define __pyx_n_s_log_output_model __pyx_mstate_global->__pyx_n_s_log_output_model
#define __pyx_n_s_log_warning __pyx_mstate_global->__pyx_n_s_log_warning
#define __pyx_n_s_logger __pyx_mstate_global->__pyx_n_s_logger
#define __pyx_n_s_logging __pyx_mstate_global->__pyx_n_s_logging
#define __pyx_n_s_logging_handlers __pyx_mstate_global->__pyx_n_s_logging_handlers
#define __pyx_n_s_logging_thread __pyx_mstate_global->__pyx_n_s_logging_thread
#define __pyx_n_s_lossPkgNum __pyx_mstate_global->__pyx_n_s_lossPkgNum
#define __pyx_n_s_lossPkgTime __pyx_mstate_global->__pyx_n_s_lossPkgTime
#define __pyx_n_s_lua_file_name __pyx_mstate_global->__pyx_n_s_lua_file_name
#define __pyx_n_s_lua_name __pyx_mstate_global->__pyx_n_s_lua_name
#define __pyx_n_s_lua_num __pyx_mstate_global->__pyx_n_s_lua_num
#define __pyx_n_s_lvl __pyx_mstate_global->__pyx_n_s_lvl
#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main
#define __pyx_n_s_main_code __pyx_mstate_global->__pyx_n_s_main_code
#define __pyx_n_s_map __pyx_mstate_global->__pyx_n_s_map
#define __pyx_n_s_maxAOPercent __pyx_mstate_global->__pyx_n_s_maxAOPercent
#define __pyx_n_s_maxAcc __pyx_mstate_global->__pyx_n_s_maxAcc
#define __pyx_n_s_maxAccDeg __pyx_mstate_global->__pyx_n_s_maxAccDeg
#define __pyx_n_s_maxAccLin __pyx_mstate_global->__pyx_n_s_maxAccLin
#define __pyx_n_s_maxBytes __pyx_mstate_global->__pyx_n_s_maxBytes
#define __pyx_n_s_maxDistance __pyx_mstate_global->__pyx_n_s_maxDistance
#define __pyx_n_s_maxJerkDeg __pyx_mstate_global->__pyx_n_s_maxJerkDeg
#define __pyx_n_s_maxJerkLin __pyx_mstate_global->__pyx_n_s_maxJerkLin
#define __pyx_n_s_maxTCPSpeed __pyx_mstate_global->__pyx_n_s_maxTCPSpeed
#define __pyx_n_s_max_ang __pyx_mstate_global->__pyx_n_s_max_ang
#define __pyx_n_s_max_dis __pyx_mstate_global->__pyx_n_s_max_dis
#define __pyx_n_s_max_retries __pyx_mstate_global->__pyx_n_s_max_retries
#define __pyx_n_s_max_t __pyx_mstate_global->__pyx_n_s_max_t
#define __pyx_n_s_max_t_ms __pyx_mstate_global->__pyx_n_s_max_t_ms
#define __pyx_n_s_max_threshold __pyx_mstate_global->__pyx_n_s_max_threshold
#define __pyx_n_s_max_vel __pyx_mstate_global->__pyx_n_s_max_vel
#define __pyx_n_s_maxsize __pyx_mstate_global->__pyx_n_s_maxsize
#define __pyx_n_s_maxtime __pyx_mstate_global->__pyx_n_s_maxtime
#define __pyx_n_s_mc_queue_len __pyx_mstate_global->__pyx_n_s_mc_queue_len
#define __pyx_n_s_md5 __pyx_mstate_global->__pyx_n_s_md5
#define __pyx_n_s_mdbsOffLine __pyx_mstate_global->__pyx_n_s_mdbsOffLine
#define __pyx_n_s_mdbsTimeout __pyx_mstate_global->__pyx_n_s_mdbsTimeout
#define __pyx_n_s_message __pyx_mstate_global->__pyx_n_s_message
#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass
#define __pyx_n_s_method __pyx_mstate_global->__pyx_n_s_method
#define __pyx_n_s_millisecond __pyx_mstate_global->__pyx_n_s_millisecond
#define __pyx_n_s_minElbowPos __pyx_mstate_global->__pyx_n_s_minElbowPos
#define __pyx_n_s_minShoulderPos __pyx_mstate_global->__pyx_n_s_minShoulderPos
#define __pyx_n_s_minWristPos __pyx_mstate_global->__pyx_n_s_minWristPos
#define __pyx_n_s_min_threshold __pyx_mstate_global->__pyx_n_s_min_threshold
#define __pyx_n_s_minute __pyx_mstate_global->__pyx_n_s_minute
#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode
#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module
#define __pyx_n_s_motion_done __pyx_mstate_global->__pyx_n_s_motion_done
#define __pyx_n_s_mouth __pyx_mstate_global->__pyx_n_s_mouth
#define __pyx_n_s_moveType __pyx_mstate_global->__pyx_n_s_moveType
#define __pyx_n_s_mro_entries __pyx_mstate_global->__pyx_n_s_mro_entries
#define __pyx_n_s_n_limit __pyx_mstate_global->__pyx_n_s_n_limit
#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name
#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2
#define __pyx_n_s_nb __pyx_mstate_global->__pyx_n_s_nb
#define __pyx_n_s_nihao __pyx_mstate_global->__pyx_n_s_nihao
#define __pyx_n_s_nlimit __pyx_mstate_global->__pyx_n_s_nlimit
#define __pyx_n_s_noWeldLength __pyx_mstate_global->__pyx_n_s_noWeldLength
#define __pyx_n_s_noWeldNum __pyx_mstate_global->__pyx_n_s_noWeldNum
#define __pyx_n_s_no_block_flag __pyx_mstate_global->__pyx_n_s_no_block_flag
#define __pyx_n_s_now __pyx_mstate_global->__pyx_n_s_now
#define __pyx_n_s_num __pyx_mstate_global->__pyx_n_s_num
#define __pyx_n_s_offectFlag __pyx_mstate_global->__pyx_n_s_offectFlag
#define __pyx_n_s_offsetParameter __pyx_mstate_global->__pyx_n_s_offsetParameter
#define __pyx_n_s_offsetType __pyx_mstate_global->__pyx_n_s_offsetType
#define __pyx_n_s_offset_flag __pyx_mstate_global->__pyx_n_s_offset_flag
#define __pyx_n_s_offset_flag_p __pyx_mstate_global->__pyx_n_s_offset_flag_p
#define __pyx_n_s_offset_flag_t __pyx_mstate_global->__pyx_n_s_offset_flag_t
#define __pyx_n_s_offset_pos __pyx_mstate_global->__pyx_n_s_offset_pos
#define __pyx_n_s_offset_pos_p __pyx_mstate_global->__pyx_n_s_offset_pos_p
#define __pyx_n_s_offset_pos_t __pyx_mstate_global->__pyx_n_s_offset_pos_t
#define __pyx_n_s_open __pyx_mstate_global->__pyx_n_s_open
#define __pyx_n_s_open_flag __pyx_mstate_global->__pyx_n_s_open_flag
#define __pyx_n_s_opt __pyx_mstate_global->__pyx_n_s_opt
#define __pyx_n_s_orn __pyx_mstate_global->__pyx_n_s_orn
#define __pyx_n_s_os __pyx_mstate_global->__pyx_n_s_os
#define __pyx_n_s_outputVoltageMax __pyx_mstate_global->__pyx_n_s_outputVoltageMax
#define __pyx_n_s_outputVoltageMin __pyx_mstate_global->__pyx_n_s_outputVoltageMin
#define __pyx_n_s_output_model __pyx_mstate_global->__pyx_n_s_output_model
#define __pyx_n_s_overSpeedStrategy __pyx_mstate_global->__pyx_n_s_overSpeedStrategy
#define __pyx_n_s_ovl __pyx_mstate_global->__pyx_n_s_ovl
#define __pyx_n_s_p __pyx_mstate_global->__pyx_n_s_p
#define __pyx_n_s_pLimit __pyx_mstate_global->__pyx_n_s_pLimit
#define __pyx_n_s_p_limit __pyx_mstate_global->__pyx_n_s_p_limit
#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack
#define __pyx_n_s_par __pyx_mstate_global->__pyx_n_s_par
#define __pyx_n_s_param __pyx_mstate_global->__pyx_n_s_param
#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path
#define __pyx_n_s_period __pyx_mstate_global->__pyx_n_s_period
#define __pyx_n_s_period_ms __pyx_mstate_global->__pyx_n_s_period_ms
#define __pyx_n_s_pointNum __pyx_mstate_global->__pyx_n_s_pointNum
#define __pyx_n_s_pointX __pyx_mstate_global->__pyx_n_s_pointX
#define __pyx_n_s_pointZ __pyx_mstate_global->__pyx_n_s_pointZ
#define __pyx_n_s_point_num __pyx_mstate_global->__pyx_n_s_point_num
#define __pyx_n_s_point_table_file_path __pyx_mstate_global->__pyx_n_s_point_table_file_path
#define __pyx_n_s_point_table_name __pyx_mstate_global->__pyx_n_s_point_table_name
#define __pyx_n_s_pointo __pyx_mstate_global->__pyx_n_s_pointo
#define __pyx_n_s_port __pyx_mstate_global->__pyx_n_s_port
#define __pyx_n_s_pos __pyx_mstate_global->__pyx_n_s_pos
#define __pyx_n_s_posAdapt_sign __pyx_mstate_global->__pyx_n_s_posAdapt_sign
#define __pyx_n_s_posSensorNum __pyx_mstate_global->__pyx_n_s_posSensorNum
#define __pyx_n_s_pos_gain __pyx_mstate_global->__pyx_n_s_pos_gain
#define __pyx_n_s_power __pyx_mstate_global->__pyx_n_s_power
#define __pyx_n_s_precision __pyx_mstate_global->__pyx_n_s_precision
#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare
#define __pyx_n_s_print __pyx_mstate_global->__pyx_n_s_print
#define __pyx_n_s_program_name __pyx_mstate_global->__pyx_n_s_program_name
#define __pyx_n_s_program_state __pyx_mstate_global->__pyx_n_s_program_state
#define __pyx_n_s_protectMode __pyx_mstate_global->__pyx_n_s_protectMode
#define __pyx_n_s_protocol __pyx_mstate_global->__pyx_n_s_protocol
#define __pyx_n_s_put __pyx_mstate_global->__pyx_n_s_put
#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname
#define __pyx_n_s_queue __pyx_mstate_global->__pyx_n_s_queue
#define __pyx_n_s_r __pyx_mstate_global->__pyx_n_s_r
#define __pyx_n_s_radio __pyx_mstate_global->__pyx_n_s_radio
#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range
#define __pyx_n_s_ratio __pyx_mstate_global->__pyx_n_s_ratio
#define __pyx_n_s_rb __pyx_mstate_global->__pyx_n_s_rb
#define __pyx_kp_s_rblog_tar_gz __pyx_mstate_global->__pyx_kp_s_rblog_tar_gz
#define __pyx_n_s_rbtEnableState __pyx_mstate_global->__pyx_n_s_rbtEnableState
#define __pyx_n_s_rcs __pyx_mstate_global->__pyx_n_s_rcs
#define __pyx_n_s_reWeldDINum __pyx_mstate_global->__pyx_n_s_reWeldDINum
#define __pyx_n_s_read __pyx_mstate_global->__pyx_n_s_read
#define __pyx_n_s_ready __pyx_mstate_global->__pyx_n_s_ready
#define __pyx_n_s_reconnect __pyx_mstate_global->__pyx_n_s_reconnect
#define __pyx_n_s_reconnectEnable __pyx_mstate_global->__pyx_n_s_reconnectEnable
#define __pyx_n_s_reconnectNum __pyx_mstate_global->__pyx_n_s_reconnectNum
#define __pyx_n_s_reconnectPeriod __pyx_mstate_global->__pyx_n_s_reconnectPeriod
#define __pyx_n_s_reconnect_flag __pyx_mstate_global->__pyx_n_s_reconnect_flag
#define __pyx_n_s_reconnect_lock __pyx_mstate_global->__pyx_n_s_reconnect_lock
#define __pyx_n_s_record __pyx_mstate_global->__pyx_n_s_record
#define __pyx_n_s_recordCount __pyx_mstate_global->__pyx_n_s_recordCount
#define __pyx_n_s_recv __pyx_mstate_global->__pyx_n_s_recv
#define __pyx_n_s_recv_into __pyx_mstate_global->__pyx_n_s_recv_into
#define __pyx_n_s_recv_md5 __pyx_mstate_global->__pyx_n_s_recv_md5
#define __pyx_n_s_recv_size __pyx_mstate_global->__pyx_n_s_recv_size
#define __pyx_n_s_recvbuf __pyx_mstate_global->__pyx_n_s_recvbuf
#define __pyx_n_s_recvbyte __pyx_mstate_global->__pyx_n_s_recvbyte
#define __pyx_n_s_ref __pyx_mstate_global->__pyx_n_s_ref
#define __pyx_n_s_refFrame __pyx_mstate_global->__pyx_n_s_refFrame
#define __pyx_n_s_refPos __pyx_mstate_global->__pyx_n_s_refPos
#define __pyx_n_s_referSampleCountUd __pyx_mstate_global->__pyx_n_s_referSampleCountUd
#define __pyx_n_s_referSampleStartUd __pyx_mstate_global->__pyx_n_s_referSampleStartUd
#define __pyx_n_s_referenceCurrent __pyx_mstate_global->__pyx_n_s_referenceCurrent
#define __pyx_n_s_referenceType __pyx_mstate_global->__pyx_n_s_referenceType
#define __pyx_n_s_regHAddr __pyx_mstate_global->__pyx_n_s_regHAddr
#define __pyx_n_s_regLAddr __pyx_mstate_global->__pyx_n_s_regLAddr
#define __pyx_n_s_regNum __pyx_mstate_global->__pyx_n_s_regNum
#define __pyx_n_s_remove __pyx_mstate_global->__pyx_n_s_remove
#define __pyx_n_s_repr __pyx_mstate_global->__pyx_n_s_repr
#define __pyx_n_s_resetFlag __pyx_mstate_global->__pyx_n_s_resetFlag
#define __pyx_n_s_response __pyx_mstate_global->__pyx_n_s_response
#define __pyx_n_s_result __pyx_mstate_global->__pyx_n_s_result
#define __pyx_n_s_result_buf __pyx_mstate_global->__pyx_n_s_result_buf
#define __pyx_n_s_ret __pyx_mstate_global->__pyx_n_s_ret
#define __pyx_n_s_retp __pyx_mstate_global->__pyx_n_s_retp
#define __pyx_n_s_retry_interval __pyx_mstate_global->__pyx_n_s_retry_interval
#define __pyx_n_s_rett __pyx_mstate_global->__pyx_n_s_rett
#define __pyx_kp_u_returned __pyx_mstate_global->__pyx_kp_u_returned
#define __pyx_n_s_robot __pyx_mstate_global->__pyx_n_s_robot
#define __pyx_n_s_robot_file_url __pyx_mstate_global->__pyx_n_s_robot_file_url
#define __pyx_n_s_robot_mode __pyx_mstate_global->__pyx_n_s_robot_mode
#define __pyx_n_s_robot_realstate_exit __pyx_mstate_global->__pyx_n_s_robot_realstate_exit
#define __pyx_n_s_robot_state __pyx_mstate_global->__pyx_n_s_robot_state
#define __pyx_n_s_robot_state_pkg __pyx_mstate_global->__pyx_n_s_robot_state_pkg
#define __pyx_n_s_robot_state_routine_thread __pyx_mstate_global->__pyx_n_s_robot_state_routine_thread
#define __pyx_n_s_rotNum __pyx_mstate_global->__pyx_n_s_rotNum
#define __pyx_n_s_rotTorque __pyx_mstate_global->__pyx_n_s_rotTorque
#define __pyx_n_s_rotVel __pyx_mstate_global->__pyx_n_s_rotVel
#define __pyx_n_s_rotorn __pyx_mstate_global->__pyx_n_s_rotorn
#define __pyx_n_s_rtn __pyx_mstate_global->__pyx_n_s_rtn
#define __pyx_n_s_run __pyx_mstate_global->__pyx_n_s_run
#define __pyx_n_s_safeDistance __pyx_mstate_global->__pyx_n_s_safeDistance
#define __pyx_n_s_safeTime __pyx_mstate_global->__pyx_n_s_safeTime
#define __pyx_n_s_safeVel __pyx_mstate_global->__pyx_n_s_safeVel
#define __pyx_n_s_safetyMargin __pyx_mstate_global->__pyx_n_s_safetyMargin
#define __pyx_n_s_safety_stop0_state __pyx_mstate_global->__pyx_n_s_safety_stop0_state
#define __pyx_n_s_safety_stop1_state __pyx_mstate_global->__pyx_n_s_safety_stop1_state
#define __pyx_n_s_saveFilePath __pyx_mstate_global->__pyx_n_s_saveFilePath
#define __pyx_n_s_saveFlag __pyx_mstate_global->__pyx_n_s_saveFlag
#define __pyx_n_s_saveFlag_flag __pyx_mstate_global->__pyx_n_s_saveFlag_flag
#define __pyx_n_s_savePath __pyx_mstate_global->__pyx_n_s_savePath
#define __pyx_n_s_save_file_path __pyx_mstate_global->__pyx_n_s_save_file_path
#define __pyx_n_s_sdk __pyx_mstate_global->__pyx_n_s_sdk
#define __pyx_n_s_seamType __pyx_mstate_global->__pyx_n_s_seamType
#define __pyx_n_s_search __pyx_mstate_global->__pyx_n_s_search
#define __pyx_n_s_searchDis __pyx_mstate_global->__pyx_n_s_searchDis
#define __pyx_n_s_searchDoneDINum __pyx_mstate_global->__pyx_n_s_searchDoneDINum
#define __pyx_n_s_searchStartDONum __pyx_mstate_global->__pyx_n_s_searchStartDONum
#define __pyx_n_s_searchVel __pyx_mstate_global->__pyx_n_s_searchVel
#define __pyx_n_s_second __pyx_mstate_global->__pyx_n_s_second
#define __pyx_n_s_select __pyx_mstate_global->__pyx_n_s_select
#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self
#define __pyx_n_s_send __pyx_mstate_global->__pyx_n_s_send
#define __pyx_n_s_send_md5 __pyx_mstate_global->__pyx_n_s_send_md5
#define __pyx_n_s_send_message __pyx_mstate_global->__pyx_n_s_send_message
#define __pyx_n_s_sendall __pyx_mstate_global->__pyx_n_s_sendall
#define __pyx_n_s_sensitivePara __pyx_mstate_global->__pyx_n_s_sensitivePara
#define __pyx_n_s_sensor_num __pyx_mstate_global->__pyx_n_s_sensor_num
#define __pyx_n_s_servoCompany __pyx_mstate_global->__pyx_n_s_servoCompany
#define __pyx_n_s_servoErrCode __pyx_mstate_global->__pyx_n_s_servoErrCode
#define __pyx_n_s_servoId __pyx_mstate_global->__pyx_n_s_servoId
#define __pyx_n_s_servoModel __pyx_mstate_global->__pyx_n_s_servoModel
#define __pyx_n_s_servoPos __pyx_mstate_global->__pyx_n_s_servoPos
#define __pyx_n_s_servoResolution __pyx_mstate_global->__pyx_n_s_servoResolution
#define __pyx_n_s_servoSoftVersion __pyx_mstate_global->__pyx_n_s_servoSoftVersion
#define __pyx_n_s_servoState __pyx_mstate_global->__pyx_n_s_servoState
#define __pyx_n_s_servoTorque __pyx_mstate_global->__pyx_n_s_servoTorque
#define __pyx_n_s_servoVel __pyx_mstate_global->__pyx_n_s_servoVel
#define __pyx_n_s_set __pyx_mstate_global->__pyx_n_s_set
#define __pyx_n_s_setFormatter __pyx_mstate_global->__pyx_n_s_setFormatter
#define __pyx_n_s_setLevel __pyx_mstate_global->__pyx_n_s_setLevel
#define __pyx_n_s_set_log_level __pyx_mstate_global->__pyx_n_s_set_log_level
#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name
#define __pyx_n_s_setdefaulttimeout __pyx_mstate_global->__pyx_n_s_setdefaulttimeout
#define __pyx_n_s_settimeout __pyx_mstate_global->__pyx_n_s_settimeout
#define __pyx_n_s_setup_logging __pyx_mstate_global->__pyx_n_s_setup_logging
#define __pyx_n_s_sign __pyx_mstate_global->__pyx_n_s_sign
#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size
#define __pyx_n_s_sizeof __pyx_mstate_global->__pyx_n_s_sizeof
#define __pyx_n_s_slaveID __pyx_mstate_global->__pyx_n_s_slaveID
#define __pyx_n_s_sleep __pyx_mstate_global->__pyx_n_s_sleep
#define __pyx_n_s_smooth __pyx_mstate_global->__pyx_n_s_smooth
#define __pyx_n_s_smooth_flag __pyx_mstate_global->__pyx_n_s_smooth_flag
#define __pyx_n_s_sock1 __pyx_mstate_global->__pyx_n_s_sock1
#define __pyx_n_s_sock_cli_state __pyx_mstate_global->__pyx_n_s_sock_cli_state
#define __pyx_n_s_sock_cli_state_state __pyx_mstate_global->__pyx_n_s_sock_cli_state_state
#define __pyx_n_s_socket __pyx_mstate_global->__pyx_n_s_socket
#define __pyx_n_s_softversion __pyx_mstate_global->__pyx_n_s_softversion
#define __pyx_n_s_softwareUpgradeState __pyx_mstate_global->__pyx_n_s_softwareUpgradeState
#define __pyx_kp_s_software_upgrade_not_start __pyx_mstate_global->__pyx_kp_s_software_upgrade_not_start
#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec
#define __pyx_n_s_speed __pyx_mstate_global->__pyx_n_s_speed
#define __pyx_n_s_speedPercent __pyx_mstate_global->__pyx_n_s_speedPercent
#define __pyx_n_s_split __pyx_mstate_global->__pyx_n_s_split
#define __pyx_n_s_sship __pyx_mstate_global->__pyx_n_s_sship
#define __pyx_n_s_sshname __pyx_mstate_global->__pyx_n_s_sshname
#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start
#define __pyx_n_s_startCurrent __pyx_mstate_global->__pyx_n_s_startCurrent
#define __pyx_n_s_startDesePos __pyx_mstate_global->__pyx_n_s_startDesePos
#define __pyx_n_s_startDis __pyx_mstate_global->__pyx_n_s_startDis
#define __pyx_n_s_startDistance __pyx_mstate_global->__pyx_n_s_startDistance
#define __pyx_n_s_startJPos __pyx_mstate_global->__pyx_n_s_startJPos
#define __pyx_n_s_startPos __pyx_mstate_global->__pyx_n_s_startPos
#define __pyx_n_s_startTime __pyx_mstate_global->__pyx_n_s_startTime
#define __pyx_n_s_startVoltage __pyx_mstate_global->__pyx_n_s_startVoltage
#define __pyx_n_s_start_joint __pyx_mstate_global->__pyx_n_s_start_joint
#define __pyx_n_s_start_logging_thread __pyx_mstate_global->__pyx_n_s_start_logging_thread
#define __pyx_n_s_state __pyx_mstate_global->__pyx_n_s_state
#define __pyx_n_s_state_pkg __pyx_mstate_global->__pyx_n_s_state_pkg
#define __pyx_n_s_status __pyx_mstate_global->__pyx_n_s_status
#define __pyx_n_s_stepMaxLr __pyx_mstate_global->__pyx_n_s_stepMaxLr
#define __pyx_n_s_stepMaxUd __pyx_mstate_global->__pyx_n_s_stepMaxUd
#define __pyx_n_s_stopBit __pyx_mstate_global->__pyx_n_s_stopBit
#define __pyx_n_s_stop_event __pyx_mstate_global->__pyx_n_s_stop_event
#define __pyx_n_s_strategy __pyx_mstate_global->__pyx_n_s_strategy
#define __pyx_n_s_stream __pyx_mstate_global->__pyx_n_s_stream
#define __pyx_n_s_strftime __pyx_mstate_global->__pyx_n_s_strftime
#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct
#define __pyx_n_s_sub_code __pyx_mstate_global->__pyx_n_s_sub_code
#define __pyx_n_s_sum __pyx_mstate_global->__pyx_n_s_sum
#define __pyx_n_s_sumMaxLr __pyx_mstate_global->__pyx_n_s_sumMaxLr
#define __pyx_n_s_sumMaxUd __pyx_mstate_global->__pyx_n_s_sumMaxUd
#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super
#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys
#define __pyx_n_s_t __pyx_mstate_global->__pyx_n_s_t
#define __pyx_n_s_tStartLr __pyx_mstate_global->__pyx_n_s_tStartLr
#define __pyx_n_s_tStartUd __pyx_mstate_global->__pyx_n_s_tStartUd
#define __pyx_n_s_t_coord __pyx_mstate_global->__pyx_n_s_t_coord
#define __pyx_n_s_t_ms __pyx_mstate_global->__pyx_n_s_t_ms
#define __pyx_n_s_target __pyx_mstate_global->__pyx_n_s_target
#define __pyx_n_s_target_TCP_CmpSpeed __pyx_mstate_global->__pyx_n_s_target_TCP_CmpSpeed
#define __pyx_n_s_target_TCP_Speed __pyx_mstate_global->__pyx_n_s_target_TCP_Speed
#define __pyx_n_s_tcpDetectionThreshould __pyx_mstate_global->__pyx_n_s_tcpDetectionThreshould
#define __pyx_n_s_terminator __pyx_mstate_global->__pyx_n_s_terminator
#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test
#define __pyx_n_s_thread __pyx_mstate_global->__pyx_n_s_thread
#define __pyx_n_s_threading __pyx_mstate_global->__pyx_n_s_threading
#define __pyx_n_s_time __pyx_mstate_global->__pyx_n_s_time
#define __pyx_n_s_timeout __pyx_mstate_global->__pyx_n_s_timeout
#define __pyx_n_s_timeoutTimes __pyx_mstate_global->__pyx_n_s_timeoutTimes
#define __pyx_n_s_tl_analog_output __pyx_mstate_global->__pyx_n_s_tl_analog_output
#define __pyx_n_s_tl_anglog_input __pyx_mstate_global->__pyx_n_s_tl_anglog_input
#define __pyx_n_s_tl_cur_pos __pyx_mstate_global->__pyx_n_s_tl_cur_pos
#define __pyx_n_s_tl_dgt_input_l __pyx_mstate_global->__pyx_n_s_tl_dgt_input_l
#define __pyx_n_s_tl_dgt_output_l __pyx_mstate_global->__pyx_n_s_tl_dgt_output_l
#define __pyx_kp_s_tmp __pyx_mstate_global->__pyx_kp_s_tmp
#define __pyx_n_s_tmpJoint __pyx_mstate_global->__pyx_n_s_tmpJoint
#define __pyx_n_s_tmpTool __pyx_mstate_global->__pyx_n_s_tmpTool
#define __pyx_n_s_tmpUser __pyx_mstate_global->__pyx_n_s_tmpUser
#define __pyx_n_s_tmpWeldDesc __pyx_mstate_global->__pyx_n_s_tmpWeldDesc
#define __pyx_n_s_tmp_error __pyx_mstate_global->__pyx_n_s_tmp_error
#define __pyx_n_s_tmp_len __pyx_mstate_global->__pyx_n_s_tmp_len
#define __pyx_n_s_tmp_recvbuf __pyx_mstate_global->__pyx_n_s_tmp_recvbuf
#define __pyx_n_s_tool __pyx_mstate_global->__pyx_n_s_tool
#define __pyx_n_s_toolID __pyx_mstate_global->__pyx_n_s_toolID
#define __pyx_n_s_toolNum __pyx_mstate_global->__pyx_n_s_toolNum
#define __pyx_n_s_tool_id __pyx_mstate_global->__pyx_n_s_tool_id
#define __pyx_n_s_tool_p __pyx_mstate_global->__pyx_n_s_tool_p
#define __pyx_n_s_tool_t __pyx_mstate_global->__pyx_n_s_tool_t
#define __pyx_n_s_torque __pyx_mstate_global->__pyx_n_s_torque
#define __pyx_n_s_total_buffer __pyx_mstate_global->__pyx_n_s_total_buffer
#define __pyx_n_s_total_size __pyx_mstate_global->__pyx_n_s_total_size
#define __pyx_n_s_trajectory_pnum __pyx_mstate_global->__pyx_n_s_trajectory_pnum
#define __pyx_n_s_tx __pyx_mstate_global->__pyx_n_s_tx
#define __pyx_n_s_ty __pyx_mstate_global->__pyx_n_s_ty
#define __pyx_n_s_type __pyx_mstate_global->__pyx_n_s_type
#define __pyx_n_s_tz __pyx_mstate_global->__pyx_n_s_tz
#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update
#define __pyx_n_s_upgradeState __pyx_mstate_global->__pyx_n_s_upgradeState
#define __pyx_n_s_user __pyx_mstate_global->__pyx_n_s_user
#define __pyx_n_s_user_p __pyx_mstate_global->__pyx_n_s_user_p
#define __pyx_n_s_user_t __pyx_mstate_global->__pyx_n_s_user_t
#define __pyx_n_s_usr_file_url __pyx_mstate_global->__pyx_n_s_usr_file_url
#define __pyx_kp_s_utf_8 __pyx_mstate_global->__pyx_kp_s_utf_8
#define __pyx_n_s_value __pyx_mstate_global->__pyx_n_s_value
#define __pyx_n_s_vamx __pyx_mstate_global->__pyx_n_s_vamx
#define __pyx_n_s_varName __pyx_mstate_global->__pyx_n_s_varName
#define __pyx_n_s_varNameRef __pyx_mstate_global->__pyx_n_s_varNameRef
#define __pyx_n_s_varNameRes __pyx_mstate_global->__pyx_n_s_varNameRes
#define __pyx_n_s_varname __pyx_mstate_global->__pyx_n_s_varname
#define __pyx_n_s_vel __pyx_mstate_global->__pyx_n_s_vel
#define __pyx_n_s_vel_p __pyx_mstate_global->__pyx_n_s_vel_p
#define __pyx_n_s_vel_t __pyx_mstate_global->__pyx_n_s_vel_t
#define __pyx_n_s_velocity __pyx_mstate_global->__pyx_n_s_velocity
#define __pyx_n_s_verify __pyx_mstate_global->__pyx_n_s_verify
#define __pyx_n_s_voltage __pyx_mstate_global->__pyx_n_s_voltage
#define __pyx_n_s_warning __pyx_mstate_global->__pyx_n_s_warning
#define __pyx_n_s_wb __pyx_mstate_global->__pyx_n_s_wb
#define __pyx_n_s_weaveCircleRadio __pyx_mstate_global->__pyx_n_s_weaveCircleRadio
#define __pyx_n_s_weaveFrequency __pyx_mstate_global->__pyx_n_s_weaveFrequency
#define __pyx_n_s_weaveIncStayTime __pyx_mstate_global->__pyx_n_s_weaveIncStayTime
#define __pyx_n_s_weaveLeftRange __pyx_mstate_global->__pyx_n_s_weaveLeftRange
#define __pyx_n_s_weaveLeftStayTime __pyx_mstate_global->__pyx_n_s_weaveLeftStayTime
#define __pyx_n_s_weaveNum __pyx_mstate_global->__pyx_n_s_weaveNum
#define __pyx_n_s_weaveRange __pyx_mstate_global->__pyx_n_s_weaveRange
#define __pyx_n_s_weaveRightRange __pyx_mstate_global->__pyx_n_s_weaveRightRange
#define __pyx_n_s_weaveRightStayTime __pyx_mstate_global->__pyx_n_s_weaveRightStayTime
#define __pyx_n_s_weaveStationary __pyx_mstate_global->__pyx_n_s_weaveStationary
#define __pyx_n_s_weaveType __pyx_mstate_global->__pyx_n_s_weaveType
#define __pyx_n_s_weaveYawAngle __pyx_mstate_global->__pyx_n_s_weaveYawAngle
#define __pyx_n_s_weight __pyx_mstate_global->__pyx_n_s_weight
#define __pyx_n_s_weldArcState __pyx_mstate_global->__pyx_n_s_weldArcState
#define __pyx_n_s_weldCurrent __pyx_mstate_global->__pyx_n_s_weldCurrent
#define __pyx_n_s_weldIOType __pyx_mstate_global->__pyx_n_s_weldIOType
#define __pyx_n_s_weldId __pyx_mstate_global->__pyx_n_s_weldId
#define __pyx_n_s_weldLength __pyx_mstate_global->__pyx_n_s_weldLength
#define __pyx_n_s_weldNum __pyx_mstate_global->__pyx_n_s_weldNum
#define __pyx_n_s_weldTimeout __pyx_mstate_global->__pyx_n_s_weldTimeout
#define __pyx_n_s_weldVoltage __pyx_mstate_global->__pyx_n_s_weldVoltage
#define __pyx_n_s_weldVoltageMax __pyx_mstate_global->__pyx_n_s_weldVoltageMax
#define __pyx_n_s_weldVoltageMin __pyx_mstate_global->__pyx_n_s_weldVoltageMin
#define __pyx_n_s_weldingBreakOffState __pyx_mstate_global->__pyx_n_s_weldingBreakOffState
#define __pyx_n_s_wireFeed __pyx_mstate_global->__pyx_n_s_wireFeed
#define __pyx_n_s_wobj __pyx_mstate_global->__pyx_n_s_wobj
#define __pyx_n_s_work __pyx_mstate_global->__pyx_n_s_work
#define __pyx_n_s_wrapper __pyx_mstate_global->__pyx_n_s_wrapper
#define __pyx_n_s_wraps __pyx_mstate_global->__pyx_n_s_wraps
#define __pyx_n_s_write __pyx_mstate_global->__pyx_n_s_write
#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x
#define __pyx_n_s_xmlrpc __pyx_mstate_global->__pyx_n_s_xmlrpc
#define __pyx_n_s_xmlrpc_client __pyx_mstate_global->__pyx_n_s_xmlrpc_client
#define __pyx_n_s_xmlrpc_timeout __pyx_mstate_global->__pyx_n_s_xmlrpc_timeout
#define __pyx_n_s_xmlrpc_timeout_locals_wrapper __pyx_mstate_global->__pyx_n_s_xmlrpc_timeout_locals_wrapper
#define __pyx_n_s_y __pyx_mstate_global->__pyx_n_s_y
#define __pyx_n_s_yangle __pyx_mstate_global->__pyx_n_s_yangle
#define __pyx_n_s_year __pyx_mstate_global->__pyx_n_s_year
#define __pyx_n_s_z __pyx_mstate_global->__pyx_n_s_z
#define __pyx_n_s_zangle __pyx_mstate_global->__pyx_n_s_zangle
#define __pyx_n_s_zeroZoneCmp __pyx_mstate_global->__pyx_n_s_zeroZoneCmp
#define __pyx_n_s_zlength __pyx_mstate_global->__pyx_n_s_zlength
#define __pyx_float_0_0 __pyx_mstate_global->__pyx_float_0_0
#define __pyx_float_0_1 __pyx_mstate_global->__pyx_float_0_1
#define __pyx_float_0_3 __pyx_mstate_global->__pyx_float_0_3
#define __pyx_float_0_5 __pyx_mstate_global->__pyx_float_0_5
#define __pyx_float_0_7 __pyx_mstate_global->__pyx_float_0_7
#define __pyx_float_1_0 __pyx_mstate_global->__pyx_float_1_0
#define __pyx_float_3_0 __pyx_mstate_global->__pyx_float_3_0
#define __pyx_float_0_03 __pyx_mstate_global->__pyx_float_0_03
#define __pyx_float_20_0 __pyx_mstate_global->__pyx_float_20_0
#define __pyx_float_0_008 __pyx_mstate_global->__pyx_float_0_008
#define __pyx_float_100_0 __pyx_mstate_global->__pyx_float_100_0
#define __pyx_float_40_95 __pyx_mstate_global->__pyx_float_40_95
#define __pyx_float_40_96 __pyx_mstate_global->__pyx_float_40_96
#define __pyx_float_neg_1_0 __pyx_mstate_global->__pyx_float_neg_1_0
#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0
#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1
#define __pyx_int_2 __pyx_mstate_global->__pyx_int_2
#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3
#define __pyx_int_4 __pyx_mstate_global->__pyx_int_4
#define __pyx_int_5 __pyx_mstate_global->__pyx_int_5
#define __pyx_int_6 __pyx_mstate_global->__pyx_int_6
#define __pyx_int_7 __pyx_mstate_global->__pyx_int_7
#define __pyx_int_8 __pyx_mstate_global->__pyx_int_8
#define __pyx_int_10 __pyx_mstate_global->__pyx_int_10
#define __pyx_int_16 __pyx_mstate_global->__pyx_int_16
#define __pyx_int_20 __pyx_mstate_global->__pyx_int_20
#define __pyx_int_32 __pyx_mstate_global->__pyx_int_32
#define __pyx_int_44 __pyx_mstate_global->__pyx_int_44
#define __pyx_int_45 __pyx_mstate_global->__pyx_int_45
#define __pyx_int_46 __pyx_mstate_global->__pyx_int_46
#define __pyx_int_50 __pyx_mstate_global->__pyx_int_50
#define __pyx_int_90 __pyx_mstate_global->__pyx_int_90
#define __pyx_int_99 __pyx_mstate_global->__pyx_int_99
#define __pyx_int_100 __pyx_mstate_global->__pyx_int_100
#define __pyx_int_250 __pyx_mstate_global->__pyx_int_250
#define __pyx_int_1000 __pyx_mstate_global->__pyx_int_1000
#define __pyx_int_1024 __pyx_mstate_global->__pyx_int_1024
#define __pyx_int_2000 __pyx_mstate_global->__pyx_int_2000
#define __pyx_int_8080 __pyx_mstate_global->__pyx_int_8080
#define __pyx_int_8192 __pyx_mstate_global->__pyx_int_8192
#define __pyx_int_20004 __pyx_mstate_global->__pyx_int_20004
#define __pyx_int_51200 __pyx_mstate_global->__pyx_int_51200
#define __pyx_int_60000 __pyx_mstate_global->__pyx_int_60000
#define __pyx_int_1048576 __pyx_mstate_global->__pyx_int_1048576
#define __pyx_int_2097152 __pyx_mstate_global->__pyx_int_2097152
#define __pyx_int_10240000 __pyx_mstate_global->__pyx_int_10240000
#define __pyx_int_52428800 __pyx_mstate_global->__pyx_int_52428800
#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1
#define __pyx_int_neg_2 __pyx_mstate_global->__pyx_int_neg_2
#define __pyx_int_neg_4 __pyx_mstate_global->__pyx_int_neg_4
#define __pyx_int_neg_5 __pyx_mstate_global->__pyx_int_neg_5
#define __pyx_int_neg_6 __pyx_mstate_global->__pyx_int_neg_6
#define __pyx_int_neg_7 __pyx_mstate_global->__pyx_int_neg_7
#define __pyx_int_neg_8 __pyx_mstate_global->__pyx_int_neg_8
#define __pyx_int_neg_9 __pyx_mstate_global->__pyx_int_neg_9
#define __pyx_int_neg_10 __pyx_mstate_global->__pyx_int_neg_10
#define __pyx_int_neg_11 __pyx_mstate_global->__pyx_int_neg_11
#define __pyx_int_neg_12 __pyx_mstate_global->__pyx_int_neg_12
#define __pyx_int_neg_13 __pyx_mstate_global->__pyx_int_neg_13
#define __pyx_int_neg_14 __pyx_mstate_global->__pyx_int_neg_14
#define __pyx_int_neg_15 __pyx_mstate_global->__pyx_int_neg_15
#define __pyx_int_neg_16 __pyx_mstate_global->__pyx_int_neg_16
#define __pyx_tuple__2 __pyx_mstate_global->__pyx_tuple__2
#define __pyx_tuple__3 __pyx_mstate_global->__pyx_tuple__3
#define __pyx_tuple__5 __pyx_mstate_global->__pyx_tuple__5
#define __pyx_tuple__7 __pyx_mstate_global->__pyx_tuple__7
#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9
#define __pyx_slice__34 __pyx_mstate_global->__pyx_slice__34
#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11
#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13
#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15
#define __pyx_tuple__19 __pyx_mstate_global->__pyx_tuple__19
#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20
#define __pyx_tuple__21 __pyx_mstate_global->__pyx_tuple__21
#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23
#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30
#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32
#define __pyx_tuple__33 __pyx_mstate_global->__pyx_tuple__33
#define __pyx_tuple__35 __pyx_mstate_global->__pyx_tuple__35
#define __pyx_tuple__37 __pyx_mstate_global->__pyx_tuple__37
#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38
#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40
#define __pyx_tuple__42 __pyx_mstate_global->__pyx_tuple__42
#define __pyx_tuple__43 __pyx_mstate_global->__pyx_tuple__43
#define __pyx_tuple__45 __pyx_mstate_global->__pyx_tuple__45
#define __pyx_tuple__47 __pyx_mstate_global->__pyx_tuple__47
#define __pyx_tuple__49 __pyx_mstate_global->__pyx_tuple__49
#define __pyx_tuple__51 __pyx_mstate_global->__pyx_tuple__51
#define __pyx_tuple__53 __pyx_mstate_global->__pyx_tuple__53
#define __pyx_tuple__55 __pyx_mstate_global->__pyx_tuple__55
#define __pyx_tuple__56 __pyx_mstate_global->__pyx_tuple__56
#define __pyx_tuple__58 __pyx_mstate_global->__pyx_tuple__58
#define __pyx_tuple__60 __pyx_mstate_global->__pyx_tuple__60
#define __pyx_tuple__62 __pyx_mstate_global->__pyx_tuple__62
#define __pyx_tuple__64 __pyx_mstate_global->__pyx_tuple__64
#define __pyx_tuple__65 __pyx_mstate_global->__pyx_tuple__65
#define __pyx_tuple__67 __pyx_mstate_global->__pyx_tuple__67
#define __pyx_tuple__70 __pyx_mstate_global->__pyx_tuple__70
#define __pyx_tuple__73 __pyx_mstate_global->__pyx_tuple__73
#define __pyx_tuple__78 __pyx_mstate_global->__pyx_tuple__78
#define __pyx_tuple__81 __pyx_mstate_global->__pyx_tuple__81
#define __pyx_tuple__83 __pyx_mstate_global->__pyx_tuple__83
#define __pyx_tuple__85 __pyx_mstate_global->__pyx_tuple__85
#define __pyx_tuple__90 __pyx_mstate_global->__pyx_tuple__90
#define __pyx_tuple__92 __pyx_mstate_global->__pyx_tuple__92
#define __pyx_tuple__93 __pyx_mstate_global->__pyx_tuple__93
#define __pyx_tuple__95 __pyx_mstate_global->__pyx_tuple__95
#define __pyx_tuple__97 __pyx_mstate_global->__pyx_tuple__97
#define __pyx_tuple__99 __pyx_mstate_global->__pyx_tuple__99
#define __pyx_codeobj__4 __pyx_mstate_global->__pyx_codeobj__4
#define __pyx_tuple__101 __pyx_mstate_global->__pyx_tuple__101
#define __pyx_tuple__103 __pyx_mstate_global->__pyx_tuple__103
#define __pyx_tuple__105 __pyx_mstate_global->__pyx_tuple__105
#define __pyx_tuple__109 __pyx_mstate_global->__pyx_tuple__109
#define __pyx_tuple__111 __pyx_mstate_global->__pyx_tuple__111
#define __pyx_tuple__112 __pyx_mstate_global->__pyx_tuple__112
#define __pyx_tuple__115 __pyx_mstate_global->__pyx_tuple__115
#define __pyx_tuple__118 __pyx_mstate_global->__pyx_tuple__118
#define __pyx_tuple__120 __pyx_mstate_global->__pyx_tuple__120
#define __pyx_tuple__122 __pyx_mstate_global->__pyx_tuple__122
#define __pyx_tuple__125 __pyx_mstate_global->__pyx_tuple__125
#define __pyx_tuple__127 __pyx_mstate_global->__pyx_tuple__127
#define __pyx_tuple__128 __pyx_mstate_global->__pyx_tuple__128
#define __pyx_tuple__133 __pyx_mstate_global->__pyx_tuple__133
#define __pyx_tuple__135 __pyx_mstate_global->__pyx_tuple__135
#define __pyx_tuple__138 __pyx_mstate_global->__pyx_tuple__138
#define __pyx_tuple__140 __pyx_mstate_global->__pyx_tuple__140
#define __pyx_tuple__142 __pyx_mstate_global->__pyx_tuple__142
#define __pyx_tuple__144 __pyx_mstate_global->__pyx_tuple__144
#define __pyx_tuple__146 __pyx_mstate_global->__pyx_tuple__146
#define __pyx_tuple__149 __pyx_mstate_global->__pyx_tuple__149
#define __pyx_tuple__151 __pyx_mstate_global->__pyx_tuple__151
#define __pyx_tuple__154 __pyx_mstate_global->__pyx_tuple__154
#define __pyx_tuple__157 __pyx_mstate_global->__pyx_tuple__157
#define __pyx_tuple__161 __pyx_mstate_global->__pyx_tuple__161
#define __pyx_tuple__164 __pyx_mstate_global->__pyx_tuple__164
#define __pyx_tuple__166 __pyx_mstate_global->__pyx_tuple__166
#define __pyx_tuple__168 __pyx_mstate_global->__pyx_tuple__168
#define __pyx_tuple__173 __pyx_mstate_global->__pyx_tuple__173
#define __pyx_tuple__175 __pyx_mstate_global->__pyx_tuple__175
#define __pyx_tuple__179 __pyx_mstate_global->__pyx_tuple__179
#define __pyx_tuple__183 __pyx_mstate_global->__pyx_tuple__183
#define __pyx_tuple__185 __pyx_mstate_global->__pyx_tuple__185
#define __pyx_tuple__188 __pyx_mstate_global->__pyx_tuple__188
#define __pyx_tuple__190 __pyx_mstate_global->__pyx_tuple__190
#define __pyx_tuple__192 __pyx_mstate_global->__pyx_tuple__192
#define __pyx_tuple__194 __pyx_mstate_global->__pyx_tuple__194
#define __pyx_tuple__196 __pyx_mstate_global->__pyx_tuple__196
#define __pyx_tuple__198 __pyx_mstate_global->__pyx_tuple__198
#define __pyx_tuple__200 __pyx_mstate_global->__pyx_tuple__200
#define __pyx_tuple__202 __pyx_mstate_global->__pyx_tuple__202
#define __pyx_tuple__204 __pyx_mstate_global->__pyx_tuple__204
#define __pyx_tuple__208 __pyx_mstate_global->__pyx_tuple__208
#define __pyx_tuple__214 __pyx_mstate_global->__pyx_tuple__214
#define __pyx_tuple__216 __pyx_mstate_global->__pyx_tuple__216
#define __pyx_tuple__218 __pyx_mstate_global->__pyx_tuple__218
#define __pyx_tuple__219 __pyx_mstate_global->__pyx_tuple__219
#define __pyx_tuple__231 __pyx_mstate_global->__pyx_tuple__231
#define __pyx_tuple__233 __pyx_mstate_global->__pyx_tuple__233
#define __pyx_tuple__234 __pyx_mstate_global->__pyx_tuple__234
#define __pyx_tuple__237 __pyx_mstate_global->__pyx_tuple__237
#define __pyx_tuple__250 __pyx_mstate_global->__pyx_tuple__250
#define __pyx_tuple__257 __pyx_mstate_global->__pyx_tuple__257
#define __pyx_tuple__259 __pyx_mstate_global->__pyx_tuple__259
#define __pyx_tuple__265 __pyx_mstate_global->__pyx_tuple__265
#define __pyx_tuple__267 __pyx_mstate_global->__pyx_tuple__267
#define __pyx_tuple__270 __pyx_mstate_global->__pyx_tuple__270
#define __pyx_tuple__273 __pyx_mstate_global->__pyx_tuple__273
#define __pyx_tuple__275 __pyx_mstate_global->__pyx_tuple__275
#define __pyx_tuple__277 __pyx_mstate_global->__pyx_tuple__277
#define __pyx_tuple__282 __pyx_mstate_global->__pyx_tuple__282
#define __pyx_tuple__284 __pyx_mstate_global->__pyx_tuple__284
#define __pyx_tuple__286 __pyx_mstate_global->__pyx_tuple__286
#define __pyx_tuple__288 __pyx_mstate_global->__pyx_tuple__288
#define __pyx_tuple__290 __pyx_mstate_global->__pyx_tuple__290
#define __pyx_tuple__292 __pyx_mstate_global->__pyx_tuple__292
#define __pyx_tuple__294 __pyx_mstate_global->__pyx_tuple__294
#define __pyx_tuple__296 __pyx_mstate_global->__pyx_tuple__296
#define __pyx_tuple__298 __pyx_mstate_global->__pyx_tuple__298
#define __pyx_tuple__300 __pyx_mstate_global->__pyx_tuple__300
#define __pyx_tuple__310 __pyx_mstate_global->__pyx_tuple__310
#define __pyx_tuple__312 __pyx_mstate_global->__pyx_tuple__312
#define __pyx_tuple__315 __pyx_mstate_global->__pyx_tuple__315
#define __pyx_tuple__317 __pyx_mstate_global->__pyx_tuple__317
#define __pyx_tuple__324 __pyx_mstate_global->__pyx_tuple__324
#define __pyx_tuple__327 __pyx_mstate_global->__pyx_tuple__327
#define __pyx_tuple__330 __pyx_mstate_global->__pyx_tuple__330
#define __pyx_tuple__334 __pyx_mstate_global->__pyx_tuple__334
#define __pyx_tuple__336 __pyx_mstate_global->__pyx_tuple__336
#define __pyx_tuple__338 __pyx_mstate_global->__pyx_tuple__338
#define __pyx_tuple__339 __pyx_mstate_global->__pyx_tuple__339
#define __pyx_tuple__341 __pyx_mstate_global->__pyx_tuple__341
#define __pyx_tuple__342 __pyx_mstate_global->__pyx_tuple__342
#define __pyx_tuple__344 __pyx_mstate_global->__pyx_tuple__344
#define __pyx_tuple__345 __pyx_mstate_global->__pyx_tuple__345
#define __pyx_tuple__347 __pyx_mstate_global->__pyx_tuple__347
#define __pyx_tuple__350 __pyx_mstate_global->__pyx_tuple__350
#define __pyx_tuple__352 __pyx_mstate_global->__pyx_tuple__352
#define __pyx_tuple__354 __pyx_mstate_global->__pyx_tuple__354
#define __pyx_tuple__358 __pyx_mstate_global->__pyx_tuple__358
#define __pyx_tuple__360 __pyx_mstate_global->__pyx_tuple__360
#define __pyx_tuple__362 __pyx_mstate_global->__pyx_tuple__362
#define __pyx_tuple__368 __pyx_mstate_global->__pyx_tuple__368
#define __pyx_tuple__370 __pyx_mstate_global->__pyx_tuple__370
#define __pyx_tuple__374 __pyx_mstate_global->__pyx_tuple__374
#define __pyx_tuple__376 __pyx_mstate_global->__pyx_tuple__376
#define __pyx_tuple__377 __pyx_mstate_global->__pyx_tuple__377
#define __pyx_tuple__379 __pyx_mstate_global->__pyx_tuple__379
#define __pyx_tuple__381 __pyx_mstate_global->__pyx_tuple__381
#define __pyx_tuple__382 __pyx_mstate_global->__pyx_tuple__382
#define __pyx_tuple__385 __pyx_mstate_global->__pyx_tuple__385
#define __pyx_tuple__387 __pyx_mstate_global->__pyx_tuple__387
#define __pyx_tuple__391 __pyx_mstate_global->__pyx_tuple__391
#define __pyx_tuple__393 __pyx_mstate_global->__pyx_tuple__393
#define __pyx_tuple__395 __pyx_mstate_global->__pyx_tuple__395
#define __pyx_tuple__397 __pyx_mstate_global->__pyx_tuple__397
#define __pyx_tuple__399 __pyx_mstate_global->__pyx_tuple__399
#define __pyx_tuple__402 __pyx_mstate_global->__pyx_tuple__402
#define __pyx_tuple__405 __pyx_mstate_global->__pyx_tuple__405
#define __pyx_tuple__407 __pyx_mstate_global->__pyx_tuple__407
#define __pyx_tuple__409 __pyx_mstate_global->__pyx_tuple__409
#define __pyx_tuple__411 __pyx_mstate_global->__pyx_tuple__411
#define __pyx_tuple__413 __pyx_mstate_global->__pyx_tuple__413
#define __pyx_tuple__415 __pyx_mstate_global->__pyx_tuple__415
#define __pyx_tuple__417 __pyx_mstate_global->__pyx_tuple__417
#define __pyx_tuple__419 __pyx_mstate_global->__pyx_tuple__419
#define __pyx_tuple__421 __pyx_mstate_global->__pyx_tuple__421
#define __pyx_tuple__423 __pyx_mstate_global->__pyx_tuple__423
#define __pyx_tuple__425 __pyx_mstate_global->__pyx_tuple__425
#define __pyx_tuple__427 __pyx_mstate_global->__pyx_tuple__427
#define __pyx_tuple__429 __pyx_mstate_global->__pyx_tuple__429
#define __pyx_tuple__431 __pyx_mstate_global->__pyx_tuple__431
#define __pyx_tuple__433 __pyx_mstate_global->__pyx_tuple__433
#define __pyx_tuple__435 __pyx_mstate_global->__pyx_tuple__435
#define __pyx_tuple__437 __pyx_mstate_global->__pyx_tuple__437
#define __pyx_tuple__439 __pyx_mstate_global->__pyx_tuple__439
#define __pyx_tuple__441 __pyx_mstate_global->__pyx_tuple__441
#define __pyx_tuple__443 __pyx_mstate_global->__pyx_tuple__443
#define __pyx_tuple__445 __pyx_mstate_global->__pyx_tuple__445
#define __pyx_tuple__447 __pyx_mstate_global->__pyx_tuple__447
#define __pyx_tuple__449 __pyx_mstate_global->__pyx_tuple__449
#define __pyx_tuple__451 __pyx_mstate_global->__pyx_tuple__451
#define __pyx_tuple__453 __pyx_mstate_global->__pyx_tuple__453
#define __pyx_tuple__455 __pyx_mstate_global->__pyx_tuple__455
#define __pyx_tuple__459 __pyx_mstate_global->__pyx_tuple__459
#define __pyx_tuple__462 __pyx_mstate_global->__pyx_tuple__462
#define __pyx_tuple__464 __pyx_mstate_global->__pyx_tuple__464
#define __pyx_tuple__466 __pyx_mstate_global->__pyx_tuple__466
#define __pyx_tuple__470 __pyx_mstate_global->__pyx_tuple__470
#define __pyx_tuple__472 __pyx_mstate_global->__pyx_tuple__472
#define __pyx_tuple__478 __pyx_mstate_global->__pyx_tuple__478
#define __pyx_tuple__480 __pyx_mstate_global->__pyx_tuple__480
#define __pyx_tuple__482 __pyx_mstate_global->__pyx_tuple__482
#define __pyx_tuple__484 __pyx_mstate_global->__pyx_tuple__484
#define __pyx_tuple__486 __pyx_mstate_global->__pyx_tuple__486
#define __pyx_tuple__489 __pyx_mstate_global->__pyx_tuple__489
#define __pyx_tuple__493 __pyx_mstate_global->__pyx_tuple__493
#define __pyx_tuple__495 __pyx_mstate_global->__pyx_tuple__495
#define __pyx_tuple__497 __pyx_mstate_global->__pyx_tuple__497
#define __pyx_tuple__499 __pyx_mstate_global->__pyx_tuple__499
#define __pyx_tuple__501 __pyx_mstate_global->__pyx_tuple__501
#define __pyx_tuple__503 __pyx_mstate_global->__pyx_tuple__503
#define __pyx_tuple__505 __pyx_mstate_global->__pyx_tuple__505
#define __pyx_tuple__507 __pyx_mstate_global->__pyx_tuple__507
#define __pyx_tuple__509 __pyx_mstate_global->__pyx_tuple__509
#define __pyx_tuple__511 __pyx_mstate_global->__pyx_tuple__511
#define __pyx_tuple__513 __pyx_mstate_global->__pyx_tuple__513
#define __pyx_tuple__515 __pyx_mstate_global->__pyx_tuple__515
#define __pyx_tuple__517 __pyx_mstate_global->__pyx_tuple__517
#define __pyx_tuple__519 __pyx_mstate_global->__pyx_tuple__519
#define __pyx_tuple__521 __pyx_mstate_global->__pyx_tuple__521
#define __pyx_tuple__523 __pyx_mstate_global->__pyx_tuple__523
#define __pyx_tuple__525 __pyx_mstate_global->__pyx_tuple__525
#define __pyx_tuple__527 __pyx_mstate_global->__pyx_tuple__527
#define __pyx_tuple__530 __pyx_mstate_global->__pyx_tuple__530
#define __pyx_tuple__532 __pyx_mstate_global->__pyx_tuple__532
#define __pyx_tuple__534 __pyx_mstate_global->__pyx_tuple__534
#define __pyx_tuple__536 __pyx_mstate_global->__pyx_tuple__536
#define __pyx_tuple__538 __pyx_mstate_global->__pyx_tuple__538
#define __pyx_tuple__540 __pyx_mstate_global->__pyx_tuple__540
#define __pyx_tuple__543 __pyx_mstate_global->__pyx_tuple__543
#define __pyx_tuple__546 __pyx_mstate_global->__pyx_tuple__546
#define __pyx_tuple__551 __pyx_mstate_global->__pyx_tuple__551
#define __pyx_tuple__553 __pyx_mstate_global->__pyx_tuple__553
#define __pyx_tuple__556 __pyx_mstate_global->__pyx_tuple__556
#define __pyx_tuple__559 __pyx_mstate_global->__pyx_tuple__559
#define __pyx_tuple__561 __pyx_mstate_global->__pyx_tuple__561
#define __pyx_tuple__563 __pyx_mstate_global->__pyx_tuple__563
#define __pyx_tuple__575 __pyx_mstate_global->__pyx_tuple__575
#define __pyx_tuple__578 __pyx_mstate_global->__pyx_tuple__578
#define __pyx_tuple__583 __pyx_mstate_global->__pyx_tuple__583
#define __pyx_tuple__586 __pyx_mstate_global->__pyx_tuple__586
#define __pyx_tuple__590 __pyx_mstate_global->__pyx_tuple__590
#define __pyx_tuple__592 __pyx_mstate_global->__pyx_tuple__592
#define __pyx_tuple__599 __pyx_mstate_global->__pyx_tuple__599
#define __pyx_tuple__601 __pyx_mstate_global->__pyx_tuple__601
#define __pyx_tuple__604 __pyx_mstate_global->__pyx_tuple__604
#define __pyx_tuple__607 __pyx_mstate_global->__pyx_tuple__607
#define __pyx_tuple__613 __pyx_mstate_global->__pyx_tuple__613
#define __pyx_tuple__615 __pyx_mstate_global->__pyx_tuple__615
#define __pyx_tuple__617 __pyx_mstate_global->__pyx_tuple__617
#define __pyx_tuple__621 __pyx_mstate_global->__pyx_tuple__621
#define __pyx_tuple__624 __pyx_mstate_global->__pyx_tuple__624
#define __pyx_tuple__626 __pyx_mstate_global->__pyx_tuple__626
#define __pyx_tuple__628 __pyx_mstate_global->__pyx_tuple__628
#define __pyx_tuple__630 __pyx_mstate_global->__pyx_tuple__630
#define __pyx_tuple__633 __pyx_mstate_global->__pyx_tuple__633
#define __pyx_tuple__637 __pyx_mstate_global->__pyx_tuple__637
#define __pyx_tuple__640 __pyx_mstate_global->__pyx_tuple__640
#define __pyx_tuple__644 __pyx_mstate_global->__pyx_tuple__644
#define __pyx_tuple__646 __pyx_mstate_global->__pyx_tuple__646
#define __pyx_tuple__649 __pyx_mstate_global->__pyx_tuple__649
#define __pyx_tuple__654 __pyx_mstate_global->__pyx_tuple__654
#define __pyx_tuple__656 __pyx_mstate_global->__pyx_tuple__656
#define __pyx_tuple__661 __pyx_mstate_global->__pyx_tuple__661
#define __pyx_tuple__664 __pyx_mstate_global->__pyx_tuple__664
#define __pyx_tuple__667 __pyx_mstate_global->__pyx_tuple__667
#define __pyx_tuple__670 __pyx_mstate_global->__pyx_tuple__670
#define __pyx_tuple__673 __pyx_mstate_global->__pyx_tuple__673
#define __pyx_tuple__675 __pyx_mstate_global->__pyx_tuple__675
#define __pyx_tuple__677 __pyx_mstate_global->__pyx_tuple__677
#define __pyx_tuple__680 __pyx_mstate_global->__pyx_tuple__680
#define __pyx_tuple__685 __pyx_mstate_global->__pyx_tuple__685
#define __pyx_tuple__687 __pyx_mstate_global->__pyx_tuple__687
#define __pyx_tuple__690 __pyx_mstate_global->__pyx_tuple__690
#define __pyx_tuple__693 __pyx_mstate_global->__pyx_tuple__693
#define __pyx_tuple__698 __pyx_mstate_global->__pyx_tuple__698
#define __pyx_tuple__701 __pyx_mstate_global->__pyx_tuple__701
#define __pyx_tuple__706 __pyx_mstate_global->__pyx_tuple__706
#define __pyx_tuple__709 __pyx_mstate_global->__pyx_tuple__709
#define __pyx_tuple__715 __pyx_mstate_global->__pyx_tuple__715
#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31
#define __pyx_codeobj__41 __pyx_mstate_global->__pyx_codeobj__41
#define __pyx_codeobj__44 __pyx_mstate_global->__pyx_codeobj__44
#define __pyx_codeobj__46 __pyx_mstate_global->__pyx_codeobj__46
#define __pyx_codeobj__48 __pyx_mstate_global->__pyx_codeobj__48
#define __pyx_codeobj__50 __pyx_mstate_global->__pyx_codeobj__50
#define __pyx_codeobj__52 __pyx_mstate_global->__pyx_codeobj__52
#define __pyx_codeobj__54 __pyx_mstate_global->__pyx_codeobj__54
#define __pyx_codeobj__57 __pyx_mstate_global->__pyx_codeobj__57
#define __pyx_codeobj__59 __pyx_mstate_global->__pyx_codeobj__59
#define __pyx_codeobj__61 __pyx_mstate_global->__pyx_codeobj__61
#define __pyx_codeobj__63 __pyx_mstate_global->__pyx_codeobj__63
#define __pyx_codeobj__66 __pyx_mstate_global->__pyx_codeobj__66
#define __pyx_codeobj__68 __pyx_mstate_global->__pyx_codeobj__68
#define __pyx_codeobj__69 __pyx_mstate_global->__pyx_codeobj__69
#define __pyx_codeobj__71 __pyx_mstate_global->__pyx_codeobj__71
#define __pyx_codeobj__72 __pyx_mstate_global->__pyx_codeobj__72
#define __pyx_codeobj__74 __pyx_mstate_global->__pyx_codeobj__74
#define __pyx_codeobj__75 __pyx_mstate_global->__pyx_codeobj__75
#define __pyx_codeobj__76 __pyx_mstate_global->__pyx_codeobj__76
#define __pyx_codeobj__77 __pyx_mstate_global->__pyx_codeobj__77
#define __pyx_codeobj__79 __pyx_mstate_global->__pyx_codeobj__79
#define __pyx_codeobj__80 __pyx_mstate_global->__pyx_codeobj__80
#define __pyx_codeobj__82 __pyx_mstate_global->__pyx_codeobj__82
#define __pyx_codeobj__84 __pyx_mstate_global->__pyx_codeobj__84
#define __pyx_codeobj__86 __pyx_mstate_global->__pyx_codeobj__86
#define __pyx_codeobj__87 __pyx_mstate_global->__pyx_codeobj__87
#define __pyx_codeobj__88 __pyx_mstate_global->__pyx_codeobj__88
#define __pyx_codeobj__89 __pyx_mstate_global->__pyx_codeobj__89
#define __pyx_codeobj__91 __pyx_mstate_global->__pyx_codeobj__91
#define __pyx_codeobj__94 __pyx_mstate_global->__pyx_codeobj__94
#define __pyx_codeobj__96 __pyx_mstate_global->__pyx_codeobj__96
#define __pyx_codeobj__98 __pyx_mstate_global->__pyx_codeobj__98
#define __pyx_codeobj__100 __pyx_mstate_global->__pyx_codeobj__100
#define __pyx_codeobj__102 __pyx_mstate_global->__pyx_codeobj__102
#define __pyx_codeobj__104 __pyx_mstate_global->__pyx_codeobj__104
#define __pyx_codeobj__106 __pyx_mstate_global->__pyx_codeobj__106
#define __pyx_codeobj__107 __pyx_mstate_global->__pyx_codeobj__107
#define __pyx_codeobj__108 __pyx_mstate_global->__pyx_codeobj__108
#define __pyx_codeobj__110 __pyx_mstate_global->__pyx_codeobj__110
#define __pyx_codeobj__113 __pyx_mstate_global->__pyx_codeobj__113
#define __pyx_codeobj__114 __pyx_mstate_global->__pyx_codeobj__114
#define __pyx_codeobj__116 __pyx_mstate_global->__pyx_codeobj__116
#define __pyx_codeobj__117 __pyx_mstate_global->__pyx_codeobj__117
#define __pyx_codeobj__119 __pyx_mstate_global->__pyx_codeobj__119
#define __pyx_codeobj__121 __pyx_mstate_global->__pyx_codeobj__121
#define __pyx_codeobj__123 __pyx_mstate_global->__pyx_codeobj__123
#define __pyx_codeobj__124 __pyx_mstate_global->__pyx_codeobj__124
#define __pyx_codeobj__126 __pyx_mstate_global->__pyx_codeobj__126
#define __pyx_codeobj__129 __pyx_mstate_global->__pyx_codeobj__129
#define __pyx_codeobj__130 __pyx_mstate_global->__pyx_codeobj__130
#define __pyx_codeobj__131 __pyx_mstate_global->__pyx_codeobj__131
#define __pyx_codeobj__132 __pyx_mstate_global->__pyx_codeobj__132
#define __pyx_codeobj__134 __pyx_mstate_global->__pyx_codeobj__134
#define __pyx_codeobj__136 __pyx_mstate_global->__pyx_codeobj__136
#define __pyx_codeobj__137 __pyx_mstate_global->__pyx_codeobj__137
#define __pyx_codeobj__139 __pyx_mstate_global->__pyx_codeobj__139
#define __pyx_codeobj__141 __pyx_mstate_global->__pyx_codeobj__141
#define __pyx_codeobj__143 __pyx_mstate_global->__pyx_codeobj__143
#define __pyx_codeobj__145 __pyx_mstate_global->__pyx_codeobj__145
#define __pyx_codeobj__147 __pyx_mstate_global->__pyx_codeobj__147
#define __pyx_codeobj__148 __pyx_mstate_global->__pyx_codeobj__148
#define __pyx_codeobj__150 __pyx_mstate_global->__pyx_codeobj__150
#define __pyx_codeobj__152 __pyx_mstate_global->__pyx_codeobj__152
#define __pyx_codeobj__153 __pyx_mstate_global->__pyx_codeobj__153
#define __pyx_codeobj__155 __pyx_mstate_global->__pyx_codeobj__155
#define __pyx_codeobj__156 __pyx_mstate_global->__pyx_codeobj__156
#define __pyx_codeobj__158 __pyx_mstate_global->__pyx_codeobj__158
#define __pyx_codeobj__159 __pyx_mstate_global->__pyx_codeobj__159
#define __pyx_codeobj__160 __pyx_mstate_global->__pyx_codeobj__160
#define __pyx_codeobj__162 __pyx_mstate_global->__pyx_codeobj__162
#define __pyx_codeobj__163 __pyx_mstate_global->__pyx_codeobj__163
#define __pyx_codeobj__165 __pyx_mstate_global->__pyx_codeobj__165
#define __pyx_codeobj__167 __pyx_mstate_global->__pyx_codeobj__167
#define __pyx_codeobj__169 __pyx_mstate_global->__pyx_codeobj__169
#define __pyx_codeobj__170 __pyx_mstate_global->__pyx_codeobj__170
#define __pyx_codeobj__171 __pyx_mstate_global->__pyx_codeobj__171
#define __pyx_codeobj__172 __pyx_mstate_global->__pyx_codeobj__172
#define __pyx_codeobj__174 __pyx_mstate_global->__pyx_codeobj__174
#define __pyx_codeobj__176 __pyx_mstate_global->__pyx_codeobj__176
#define __pyx_codeobj__177 __pyx_mstate_global->__pyx_codeobj__177
#define __pyx_codeobj__178 __pyx_mstate_global->__pyx_codeobj__178
#define __pyx_codeobj__180 __pyx_mstate_global->__pyx_codeobj__180
#define __pyx_codeobj__181 __pyx_mstate_global->__pyx_codeobj__181
#define __pyx_codeobj__182 __pyx_mstate_global->__pyx_codeobj__182
#define __pyx_codeobj__184 __pyx_mstate_global->__pyx_codeobj__184
#define __pyx_codeobj__186 __pyx_mstate_global->__pyx_codeobj__186
#define __pyx_codeobj__187 __pyx_mstate_global->__pyx_codeobj__187
#define __pyx_codeobj__189 __pyx_mstate_global->__pyx_codeobj__189
#define __pyx_codeobj__191 __pyx_mstate_global->__pyx_codeobj__191
#define __pyx_codeobj__193 __pyx_mstate_global->__pyx_codeobj__193
#define __pyx_codeobj__195 __pyx_mstate_global->__pyx_codeobj__195
#define __pyx_codeobj__197 __pyx_mstate_global->__pyx_codeobj__197
#define __pyx_codeobj__199 __pyx_mstate_global->__pyx_codeobj__199
#define __pyx_codeobj__201 __pyx_mstate_global->__pyx_codeobj__201
#define __pyx_codeobj__203 __pyx_mstate_global->__pyx_codeobj__203
#define __pyx_codeobj__205 __pyx_mstate_global->__pyx_codeobj__205
#define __pyx_codeobj__206 __pyx_mstate_global->__pyx_codeobj__206
#define __pyx_codeobj__207 __pyx_mstate_global->__pyx_codeobj__207
#define __pyx_codeobj__209 __pyx_mstate_global->__pyx_codeobj__209
#define __pyx_codeobj__210 __pyx_mstate_global->__pyx_codeobj__210
#define __pyx_codeobj__211 __pyx_mstate_global->__pyx_codeobj__211
#define __pyx_codeobj__212 __pyx_mstate_global->__pyx_codeobj__212
#define __pyx_codeobj__213 __pyx_mstate_global->__pyx_codeobj__213
#define __pyx_codeobj__215 __pyx_mstate_global->__pyx_codeobj__215
#define __pyx_codeobj__217 __pyx_mstate_global->__pyx_codeobj__217
#define __pyx_codeobj__220 __pyx_mstate_global->__pyx_codeobj__220
#define __pyx_codeobj__221 __pyx_mstate_global->__pyx_codeobj__221
#define __pyx_codeobj__222 __pyx_mstate_global->__pyx_codeobj__222
#define __pyx_codeobj__223 __pyx_mstate_global->__pyx_codeobj__223
#define __pyx_codeobj__224 __pyx_mstate_global->__pyx_codeobj__224
#define __pyx_codeobj__225 __pyx_mstate_global->__pyx_codeobj__225
#define __pyx_codeobj__226 __pyx_mstate_global->__pyx_codeobj__226
#define __pyx_codeobj__227 __pyx_mstate_global->__pyx_codeobj__227
#define __pyx_codeobj__228 __pyx_mstate_global->__pyx_codeobj__228
#define __pyx_codeobj__229 __pyx_mstate_global->__pyx_codeobj__229
#define __pyx_codeobj__230 __pyx_mstate_global->__pyx_codeobj__230
#define __pyx_codeobj__232 __pyx_mstate_global->__pyx_codeobj__232
#define __pyx_codeobj__235 __pyx_mstate_global->__pyx_codeobj__235
#define __pyx_codeobj__236 __pyx_mstate_global->__pyx_codeobj__236
#define __pyx_codeobj__238 __pyx_mstate_global->__pyx_codeobj__238
#define __pyx_codeobj__239 __pyx_mstate_global->__pyx_codeobj__239
#define __pyx_codeobj__240 __pyx_mstate_global->__pyx_codeobj__240
#define __pyx_codeobj__241 __pyx_mstate_global->__pyx_codeobj__241
#define __pyx_codeobj__242 __pyx_mstate_global->__pyx_codeobj__242
#define __pyx_codeobj__243 __pyx_mstate_global->__pyx_codeobj__243
#define __pyx_codeobj__244 __pyx_mstate_global->__pyx_codeobj__244
#define __pyx_codeobj__245 __pyx_mstate_global->__pyx_codeobj__245
#define __pyx_codeobj__246 __pyx_mstate_global->__pyx_codeobj__246
#define __pyx_codeobj__247 __pyx_mstate_global->__pyx_codeobj__247
#define __pyx_codeobj__248 __pyx_mstate_global->__pyx_codeobj__248
#define __pyx_codeobj__249 __pyx_mstate_global->__pyx_codeobj__249
#define __pyx_codeobj__251 __pyx_mstate_global->__pyx_codeobj__251
#define __pyx_codeobj__252 __pyx_mstate_global->__pyx_codeobj__252
#define __pyx_codeobj__253 __pyx_mstate_global->__pyx_codeobj__253
#define __pyx_codeobj__254 __pyx_mstate_global->__pyx_codeobj__254
#define __pyx_codeobj__255 __pyx_mstate_global->__pyx_codeobj__255
#define __pyx_codeobj__256 __pyx_mstate_global->__pyx_codeobj__256
#define __pyx_codeobj__258 __pyx_mstate_global->__pyx_codeobj__258
#define __pyx_codeobj__260 __pyx_mstate_global->__pyx_codeobj__260
#define __pyx_codeobj__261 __pyx_mstate_global->__pyx_codeobj__261
#define __pyx_codeobj__262 __pyx_mstate_global->__pyx_codeobj__262
#define __pyx_codeobj__263 __pyx_mstate_global->__pyx_codeobj__263
#define __pyx_codeobj__264 __pyx_mstate_global->__pyx_codeobj__264
#define __pyx_codeobj__266 __pyx_mstate_global->__pyx_codeobj__266
#define __pyx_codeobj__268 __pyx_mstate_global->__pyx_codeobj__268
#define __pyx_codeobj__269 __pyx_mstate_global->__pyx_codeobj__269
#define __pyx_codeobj__271 __pyx_mstate_global->__pyx_codeobj__271
#define __pyx_codeobj__272 __pyx_mstate_global->__pyx_codeobj__272
#define __pyx_codeobj__274 __pyx_mstate_global->__pyx_codeobj__274
#define __pyx_codeobj__276 __pyx_mstate_global->__pyx_codeobj__276
#define __pyx_codeobj__278 __pyx_mstate_global->__pyx_codeobj__278
#define __pyx_codeobj__279 __pyx_mstate_global->__pyx_codeobj__279
#define __pyx_codeobj__280 __pyx_mstate_global->__pyx_codeobj__280
#define __pyx_codeobj__281 __pyx_mstate_global->__pyx_codeobj__281
#define __pyx_codeobj__283 __pyx_mstate_global->__pyx_codeobj__283
#define __pyx_codeobj__285 __pyx_mstate_global->__pyx_codeobj__285
#define __pyx_codeobj__287 __pyx_mstate_global->__pyx_codeobj__287
#define __pyx_codeobj__289 __pyx_mstate_global->__pyx_codeobj__289
#define __pyx_codeobj__291 __pyx_mstate_global->__pyx_codeobj__291
#define __pyx_codeobj__293 __pyx_mstate_global->__pyx_codeobj__293
#define __pyx_codeobj__295 __pyx_mstate_global->__pyx_codeobj__295
#define __pyx_codeobj__297 __pyx_mstate_global->__pyx_codeobj__297
#define __pyx_codeobj__299 __pyx_mstate_global->__pyx_codeobj__299
#define __pyx_codeobj__301 __pyx_mstate_global->__pyx_codeobj__301
#define __pyx_codeobj__302 __pyx_mstate_global->__pyx_codeobj__302
#define __pyx_codeobj__303 __pyx_mstate_global->__pyx_codeobj__303
#define __pyx_codeobj__304 __pyx_mstate_global->__pyx_codeobj__304
#define __pyx_codeobj__305 __pyx_mstate_global->__pyx_codeobj__305
#define __pyx_codeobj__306 __pyx_mstate_global->__pyx_codeobj__306
#define __pyx_codeobj__307 __pyx_mstate_global->__pyx_codeobj__307
#define __pyx_codeobj__308 __pyx_mstate_global->__pyx_codeobj__308
#define __pyx_codeobj__309 __pyx_mstate_global->__pyx_codeobj__309
#define __pyx_codeobj__311 __pyx_mstate_global->__pyx_codeobj__311
#define __pyx_codeobj__313 __pyx_mstate_global->__pyx_codeobj__313
#define __pyx_codeobj__314 __pyx_mstate_global->__pyx_codeobj__314
#define __pyx_codeobj__316 __pyx_mstate_global->__pyx_codeobj__316
#define __pyx_codeobj__318 __pyx_mstate_global->__pyx_codeobj__318
#define __pyx_codeobj__319 __pyx_mstate_global->__pyx_codeobj__319
#define __pyx_codeobj__320 __pyx_mstate_global->__pyx_codeobj__320
#define __pyx_codeobj__321 __pyx_mstate_global->__pyx_codeobj__321
#define __pyx_codeobj__322 __pyx_mstate_global->__pyx_codeobj__322
#define __pyx_codeobj__323 __pyx_mstate_global->__pyx_codeobj__323
#define __pyx_codeobj__325 __pyx_mstate_global->__pyx_codeobj__325
#define __pyx_codeobj__326 __pyx_mstate_global->__pyx_codeobj__326
#define __pyx_codeobj__328 __pyx_mstate_global->__pyx_codeobj__328
#define __pyx_codeobj__329 __pyx_mstate_global->__pyx_codeobj__329
#define __pyx_codeobj__331 __pyx_mstate_global->__pyx_codeobj__331
#define __pyx_codeobj__332 __pyx_mstate_global->__pyx_codeobj__332
#define __pyx_codeobj__333 __pyx_mstate_global->__pyx_codeobj__333
#define __pyx_codeobj__335 __pyx_mstate_global->__pyx_codeobj__335
#define __pyx_codeobj__337 __pyx_mstate_global->__pyx_codeobj__337
#define __pyx_codeobj__340 __pyx_mstate_global->__pyx_codeobj__340
#define __pyx_codeobj__343 __pyx_mstate_global->__pyx_codeobj__343
#define __pyx_codeobj__346 __pyx_mstate_global->__pyx_codeobj__346
#define __pyx_codeobj__348 __pyx_mstate_global->__pyx_codeobj__348
#define __pyx_codeobj__349 __pyx_mstate_global->__pyx_codeobj__349
#define __pyx_codeobj__351 __pyx_mstate_global->__pyx_codeobj__351
#define __pyx_codeobj__353 __pyx_mstate_global->__pyx_codeobj__353
#define __pyx_codeobj__355 __pyx_mstate_global->__pyx_codeobj__355
#define __pyx_codeobj__356 __pyx_mstate_global->__pyx_codeobj__356
#define __pyx_codeobj__357 __pyx_mstate_global->__pyx_codeobj__357
#define __pyx_codeobj__359 __pyx_mstate_global->__pyx_codeobj__359
#define __pyx_codeobj__361 __pyx_mstate_global->__pyx_codeobj__361
#define __pyx_codeobj__363 __pyx_mstate_global->__pyx_codeobj__363
#define __pyx_codeobj__364 __pyx_mstate_global->__pyx_codeobj__364
#define __pyx_codeobj__365 __pyx_mstate_global->__pyx_codeobj__365
#define __pyx_codeobj__366 __pyx_mstate_global->__pyx_codeobj__366
#define __pyx_codeobj__367 __pyx_mstate_global->__pyx_codeobj__367
#define __pyx_codeobj__369 __pyx_mstate_global->__pyx_codeobj__369
#define __pyx_codeobj__371 __pyx_mstate_global->__pyx_codeobj__371
#define __pyx_codeobj__372 __pyx_mstate_global->__pyx_codeobj__372
#define __pyx_codeobj__373 __pyx_mstate_global->__pyx_codeobj__373
#define __pyx_codeobj__375 __pyx_mstate_global->__pyx_codeobj__375
#define __pyx_codeobj__378 __pyx_mstate_global->__pyx_codeobj__378
#define __pyx_codeobj__380 __pyx_mstate_global->__pyx_codeobj__380
#define __pyx_codeobj__383 __pyx_mstate_global->__pyx_codeobj__383
#define __pyx_codeobj__384 __pyx_mstate_global->__pyx_codeobj__384
#define __pyx_codeobj__386 __pyx_mstate_global->__pyx_codeobj__386
#define __pyx_codeobj__388 __pyx_mstate_global->__pyx_codeobj__388
#define __pyx_codeobj__389 __pyx_mstate_global->__pyx_codeobj__389
#define __pyx_codeobj__390 __pyx_mstate_global->__pyx_codeobj__390
#define __pyx_codeobj__392 __pyx_mstate_global->__pyx_codeobj__392
#define __pyx_codeobj__394 __pyx_mstate_global->__pyx_codeobj__394
#define __pyx_codeobj__396 __pyx_mstate_global->__pyx_codeobj__396
#define __pyx_codeobj__398 __pyx_mstate_global->__pyx_codeobj__398
#define __pyx_codeobj__400 __pyx_mstate_global->__pyx_codeobj__400
#define __pyx_codeobj__401 __pyx_mstate_global->__pyx_codeobj__401
#define __pyx_codeobj__403 __pyx_mstate_global->__pyx_codeobj__403
#define __pyx_codeobj__404 __pyx_mstate_global->__pyx_codeobj__404
#define __pyx_codeobj__406 __pyx_mstate_global->__pyx_codeobj__406
#define __pyx_codeobj__408 __pyx_mstate_global->__pyx_codeobj__408
#define __pyx_codeobj__410 __pyx_mstate_global->__pyx_codeobj__410
#define __pyx_codeobj__412 __pyx_mstate_global->__pyx_codeobj__412
#define __pyx_codeobj__414 __pyx_mstate_global->__pyx_codeobj__414
#define __pyx_codeobj__416 __pyx_mstate_global->__pyx_codeobj__416
#define __pyx_codeobj__418 __pyx_mstate_global->__pyx_codeobj__418
#define __pyx_codeobj__420 __pyx_mstate_global->__pyx_codeobj__420
#define __pyx_codeobj__422 __pyx_mstate_global->__pyx_codeobj__422
#define __pyx_codeobj__424 __pyx_mstate_global->__pyx_codeobj__424
#define __pyx_codeobj__426 __pyx_mstate_global->__pyx_codeobj__426
#define __pyx_codeobj__428 __pyx_mstate_global->__pyx_codeobj__428
#define __pyx_codeobj__430 __pyx_mstate_global->__pyx_codeobj__430
#define __pyx_codeobj__432 __pyx_mstate_global->__pyx_codeobj__432
#define __pyx_codeobj__434 __pyx_mstate_global->__pyx_codeobj__434
#define __pyx_codeobj__436 __pyx_mstate_global->__pyx_codeobj__436
#define __pyx_codeobj__438 __pyx_mstate_global->__pyx_codeobj__438
#define __pyx_codeobj__440 __pyx_mstate_global->__pyx_codeobj__440
#define __pyx_codeobj__442 __pyx_mstate_global->__pyx_codeobj__442
#define __pyx_codeobj__444 __pyx_mstate_global->__pyx_codeobj__444
#define __pyx_codeobj__446 __pyx_mstate_global->__pyx_codeobj__446
#define __pyx_codeobj__448 __pyx_mstate_global->__pyx_codeobj__448
#define __pyx_codeobj__450 __pyx_mstate_global->__pyx_codeobj__450
#define __pyx_codeobj__452 __pyx_mstate_global->__pyx_codeobj__452
#define __pyx_codeobj__454 __pyx_mstate_global->__pyx_codeobj__454
#define __pyx_codeobj__456 __pyx_mstate_global->__pyx_codeobj__456
#define __pyx_codeobj__457 __pyx_mstate_global->__pyx_codeobj__457
#define __pyx_codeobj__458 __pyx_mstate_global->__pyx_codeobj__458
#define __pyx_codeobj__460 __pyx_mstate_global->__pyx_codeobj__460
#define __pyx_codeobj__461 __pyx_mstate_global->__pyx_codeobj__461
#define __pyx_codeobj__463 __pyx_mstate_global->__pyx_codeobj__463
#define __pyx_codeobj__465 __pyx_mstate_global->__pyx_codeobj__465
#define __pyx_codeobj__467 __pyx_mstate_global->__pyx_codeobj__467
#define __pyx_codeobj__468 __pyx_mstate_global->__pyx_codeobj__468
#define __pyx_codeobj__469 __pyx_mstate_global->__pyx_codeobj__469
#define __pyx_codeobj__471 __pyx_mstate_global->__pyx_codeobj__471
#define __pyx_codeobj__473 __pyx_mstate_global->__pyx_codeobj__473
#define __pyx_codeobj__474 __pyx_mstate_global->__pyx_codeobj__474
#define __pyx_codeobj__475 __pyx_mstate_global->__pyx_codeobj__475
#define __pyx_codeobj__476 __pyx_mstate_global->__pyx_codeobj__476
#define __pyx_codeobj__477 __pyx_mstate_global->__pyx_codeobj__477
#define __pyx_codeobj__479 __pyx_mstate_global->__pyx_codeobj__479
#define __pyx_codeobj__481 __pyx_mstate_global->__pyx_codeobj__481
#define __pyx_codeobj__483 __pyx_mstate_global->__pyx_codeobj__483
#define __pyx_codeobj__485 __pyx_mstate_global->__pyx_codeobj__485
#define __pyx_codeobj__487 __pyx_mstate_global->__pyx_codeobj__487
#define __pyx_codeobj__488 __pyx_mstate_global->__pyx_codeobj__488
#define __pyx_codeobj__490 __pyx_mstate_global->__pyx_codeobj__490
#define __pyx_codeobj__491 __pyx_mstate_global->__pyx_codeobj__491
#define __pyx_codeobj__492 __pyx_mstate_global->__pyx_codeobj__492
#define __pyx_codeobj__494 __pyx_mstate_global->__pyx_codeobj__494
#define __pyx_codeobj__496 __pyx_mstate_global->__pyx_codeobj__496
#define __pyx_codeobj__498 __pyx_mstate_global->__pyx_codeobj__498
#define __pyx_codeobj__500 __pyx_mstate_global->__pyx_codeobj__500
#define __pyx_codeobj__502 __pyx_mstate_global->__pyx_codeobj__502
#define __pyx_codeobj__504 __pyx_mstate_global->__pyx_codeobj__504
#define __pyx_codeobj__506 __pyx_mstate_global->__pyx_codeobj__506
#define __pyx_codeobj__508 __pyx_mstate_global->__pyx_codeobj__508
#define __pyx_codeobj__510 __pyx_mstate_global->__pyx_codeobj__510
#define __pyx_codeobj__512 __pyx_mstate_global->__pyx_codeobj__512
#define __pyx_codeobj__514 __pyx_mstate_global->__pyx_codeobj__514
#define __pyx_codeobj__516 __pyx_mstate_global->__pyx_codeobj__516
#define __pyx_codeobj__518 __pyx_mstate_global->__pyx_codeobj__518
#define __pyx_codeobj__520 __pyx_mstate_global->__pyx_codeobj__520
#define __pyx_codeobj__522 __pyx_mstate_global->__pyx_codeobj__522
#define __pyx_codeobj__524 __pyx_mstate_global->__pyx_codeobj__524
#define __pyx_codeobj__526 __pyx_mstate_global->__pyx_codeobj__526
#define __pyx_codeobj__528 __pyx_mstate_global->__pyx_codeobj__528
#define __pyx_codeobj__529 __pyx_mstate_global->__pyx_codeobj__529
#define __pyx_codeobj__531 __pyx_mstate_global->__pyx_codeobj__531
#define __pyx_codeobj__533 __pyx_mstate_global->__pyx_codeobj__533
#define __pyx_codeobj__535 __pyx_mstate_global->__pyx_codeobj__535
#define __pyx_codeobj__537 __pyx_mstate_global->__pyx_codeobj__537
#define __pyx_codeobj__539 __pyx_mstate_global->__pyx_codeobj__539
#define __pyx_codeobj__541 __pyx_mstate_global->__pyx_codeobj__541
#define __pyx_codeobj__542 __pyx_mstate_global->__pyx_codeobj__542
#define __pyx_codeobj__544 __pyx_mstate_global->__pyx_codeobj__544
#define __pyx_codeobj__545 __pyx_mstate_global->__pyx_codeobj__545
#define __pyx_codeobj__547 __pyx_mstate_global->__pyx_codeobj__547
#define __pyx_codeobj__548 __pyx_mstate_global->__pyx_codeobj__548
#define __pyx_codeobj__549 __pyx_mstate_global->__pyx_codeobj__549
#define __pyx_codeobj__550 __pyx_mstate_global->__pyx_codeobj__550
#define __pyx_codeobj__552 __pyx_mstate_global->__pyx_codeobj__552
#define __pyx_codeobj__554 __pyx_mstate_global->__pyx_codeobj__554
#define __pyx_codeobj__555 __pyx_mstate_global->__pyx_codeobj__555
#define __pyx_codeobj__557 __pyx_mstate_global->__pyx_codeobj__557
#define __pyx_codeobj__558 __pyx_mstate_global->__pyx_codeobj__558
#define __pyx_codeobj__560 __pyx_mstate_global->__pyx_codeobj__560
#define __pyx_codeobj__562 __pyx_mstate_global->__pyx_codeobj__562
#define __pyx_codeobj__564 __pyx_mstate_global->__pyx_codeobj__564
#define __pyx_codeobj__565 __pyx_mstate_global->__pyx_codeobj__565
#define __pyx_codeobj__566 __pyx_mstate_global->__pyx_codeobj__566
#define __pyx_codeobj__567 __pyx_mstate_global->__pyx_codeobj__567
#define __pyx_codeobj__568 __pyx_mstate_global->__pyx_codeobj__568
#define __pyx_codeobj__569 __pyx_mstate_global->__pyx_codeobj__569
#define __pyx_codeobj__570 __pyx_mstate_global->__pyx_codeobj__570
#define __pyx_codeobj__571 __pyx_mstate_global->__pyx_codeobj__571
#define __pyx_codeobj__572 __pyx_mstate_global->__pyx_codeobj__572
#define __pyx_codeobj__573 __pyx_mstate_global->__pyx_codeobj__573
#define __pyx_codeobj__574 __pyx_mstate_global->__pyx_codeobj__574
#define __pyx_codeobj__576 __pyx_mstate_global->__pyx_codeobj__576
#define __pyx_codeobj__577 __pyx_mstate_global->__pyx_codeobj__577
#define __pyx_codeobj__579 __pyx_mstate_global->__pyx_codeobj__579
#define __pyx_codeobj__580 __pyx_mstate_global->__pyx_codeobj__580
#define __pyx_codeobj__581 __pyx_mstate_global->__pyx_codeobj__581
#define __pyx_codeobj__582 __pyx_mstate_global->__pyx_codeobj__582
#define __pyx_codeobj__584 __pyx_mstate_global->__pyx_codeobj__584
#define __pyx_codeobj__585 __pyx_mstate_global->__pyx_codeobj__585
#define __pyx_codeobj__587 __pyx_mstate_global->__pyx_codeobj__587
#define __pyx_codeobj__588 __pyx_mstate_global->__pyx_codeobj__588
#define __pyx_codeobj__589 __pyx_mstate_global->__pyx_codeobj__589
#define __pyx_codeobj__591 __pyx_mstate_global->__pyx_codeobj__591
#define __pyx_codeobj__593 __pyx_mstate_global->__pyx_codeobj__593
#define __pyx_codeobj__594 __pyx_mstate_global->__pyx_codeobj__594
#define __pyx_codeobj__595 __pyx_mstate_global->__pyx_codeobj__595
#define __pyx_codeobj__596 __pyx_mstate_global->__pyx_codeobj__596
#define __pyx_codeobj__597 __pyx_mstate_global->__pyx_codeobj__597
#define __pyx_codeobj__598 __pyx_mstate_global->__pyx_codeobj__598
#define __pyx_codeobj__600 __pyx_mstate_global->__pyx_codeobj__600
#define __pyx_codeobj__602 __pyx_mstate_global->__pyx_codeobj__602
#define __pyx_codeobj__603 __pyx_mstate_global->__pyx_codeobj__603
#define __pyx_codeobj__605 __pyx_mstate_global->__pyx_codeobj__605
#define __pyx_codeobj__606 __pyx_mstate_global->__pyx_codeobj__606
#define __pyx_codeobj__608 __pyx_mstate_global->__pyx_codeobj__608
#define __pyx_codeobj__609 __pyx_mstate_global->__pyx_codeobj__609
#define __pyx_codeobj__610 __pyx_mstate_global->__pyx_codeobj__610
#define __pyx_codeobj__611 __pyx_mstate_global->__pyx_codeobj__611
#define __pyx_codeobj__612 __pyx_mstate_global->__pyx_codeobj__612
#define __pyx_codeobj__614 __pyx_mstate_global->__pyx_codeobj__614
#define __pyx_codeobj__616 __pyx_mstate_global->__pyx_codeobj__616
#define __pyx_codeobj__618 __pyx_mstate_global->__pyx_codeobj__618
#define __pyx_codeobj__619 __pyx_mstate_global->__pyx_codeobj__619
#define __pyx_codeobj__620 __pyx_mstate_global->__pyx_codeobj__620
#define __pyx_codeobj__622 __pyx_mstate_global->__pyx_codeobj__622
#define __pyx_codeobj__623 __pyx_mstate_global->__pyx_codeobj__623
#define __pyx_codeobj__625 __pyx_mstate_global->__pyx_codeobj__625
#define __pyx_codeobj__627 __pyx_mstate_global->__pyx_codeobj__627
#define __pyx_codeobj__629 __pyx_mstate_global->__pyx_codeobj__629
#define __pyx_codeobj__631 __pyx_mstate_global->__pyx_codeobj__631
#define __pyx_codeobj__632 __pyx_mstate_global->__pyx_codeobj__632
#define __pyx_codeobj__634 __pyx_mstate_global->__pyx_codeobj__634
#define __pyx_codeobj__635 __pyx_mstate_global->__pyx_codeobj__635
#define __pyx_codeobj__636 __pyx_mstate_global->__pyx_codeobj__636
#define __pyx_codeobj__638 __pyx_mstate_global->__pyx_codeobj__638
#define __pyx_codeobj__639 __pyx_mstate_global->__pyx_codeobj__639
#define __pyx_codeobj__641 __pyx_mstate_global->__pyx_codeobj__641
#define __pyx_codeobj__642 __pyx_mstate_global->__pyx_codeobj__642
#define __pyx_codeobj__643 __pyx_mstate_global->__pyx_codeobj__643
#define __pyx_codeobj__645 __pyx_mstate_global->__pyx_codeobj__645
#define __pyx_codeobj__647 __pyx_mstate_global->__pyx_codeobj__647
#define __pyx_codeobj__648 __pyx_mstate_global->__pyx_codeobj__648
#define __pyx_codeobj__650 __pyx_mstate_global->__pyx_codeobj__650
#define __pyx_codeobj__651 __pyx_mstate_global->__pyx_codeobj__651
#define __pyx_codeobj__652 __pyx_mstate_global->__pyx_codeobj__652
#define __pyx_codeobj__653 __pyx_mstate_global->__pyx_codeobj__653
#define __pyx_codeobj__655 __pyx_mstate_global->__pyx_codeobj__655
#define __pyx_codeobj__657 __pyx_mstate_global->__pyx_codeobj__657
#define __pyx_codeobj__658 __pyx_mstate_global->__pyx_codeobj__658
#define __pyx_codeobj__659 __pyx_mstate_global->__pyx_codeobj__659
#define __pyx_codeobj__660 __pyx_mstate_global->__pyx_codeobj__660
#define __pyx_codeobj__662 __pyx_mstate_global->__pyx_codeobj__662
#define __pyx_codeobj__663 __pyx_mstate_global->__pyx_codeobj__663
#define __pyx_codeobj__665 __pyx_mstate_global->__pyx_codeobj__665
#define __pyx_codeobj__666 __pyx_mstate_global->__pyx_codeobj__666
#define __pyx_codeobj__668 __pyx_mstate_global->__pyx_codeobj__668
#define __pyx_codeobj__669 __pyx_mstate_global->__pyx_codeobj__669
#define __pyx_codeobj__671 __pyx_mstate_global->__pyx_codeobj__671
#define __pyx_codeobj__672 __pyx_mstate_global->__pyx_codeobj__672
#define __pyx_codeobj__674 __pyx_mstate_global->__pyx_codeobj__674
#define __pyx_codeobj__676 __pyx_mstate_global->__pyx_codeobj__676
#define __pyx_codeobj__678 __pyx_mstate_global->__pyx_codeobj__678
#define __pyx_codeobj__679 __pyx_mstate_global->__pyx_codeobj__679
#define __pyx_codeobj__681 __pyx_mstate_global->__pyx_codeobj__681
#define __pyx_codeobj__682 __pyx_mstate_global->__pyx_codeobj__682
#define __pyx_codeobj__683 __pyx_mstate_global->__pyx_codeobj__683
#define __pyx_codeobj__684 __pyx_mstate_global->__pyx_codeobj__684
#define __pyx_codeobj__686 __pyx_mstate_global->__pyx_codeobj__686
#define __pyx_codeobj__688 __pyx_mstate_global->__pyx_codeobj__688
#define __pyx_codeobj__689 __pyx_mstate_global->__pyx_codeobj__689
#define __pyx_codeobj__691 __pyx_mstate_global->__pyx_codeobj__691
#define __pyx_codeobj__692 __pyx_mstate_global->__pyx_codeobj__692
#define __pyx_codeobj__694 __pyx_mstate_global->__pyx_codeobj__694
#define __pyx_codeobj__695 __pyx_mstate_global->__pyx_codeobj__695
#define __pyx_codeobj__696 __pyx_mstate_global->__pyx_codeobj__696
#define __pyx_codeobj__697 __pyx_mstate_global->__pyx_codeobj__697
#define __pyx_codeobj__699 __pyx_mstate_global->__pyx_codeobj__699
#define __pyx_codeobj__700 __pyx_mstate_global->__pyx_codeobj__700
#define __pyx_codeobj__702 __pyx_mstate_global->__pyx_codeobj__702
#define __pyx_codeobj__703 __pyx_mstate_global->__pyx_codeobj__703
#define __pyx_codeobj__704 __pyx_mstate_global->__pyx_codeobj__704
#define __pyx_codeobj__705 __pyx_mstate_global->__pyx_codeobj__705
#define __pyx_codeobj__707 __pyx_mstate_global->__pyx_codeobj__707
#define __pyx_codeobj__708 __pyx_mstate_global->__pyx_codeobj__708
#define __pyx_codeobj__710 __pyx_mstate_global->__pyx_codeobj__710
#define __pyx_codeobj__711 __pyx_mstate_global->__pyx_codeobj__711
#define __pyx_codeobj__712 __pyx_mstate_global->__pyx_codeobj__712
#define __pyx_codeobj__713 __pyx_mstate_global->__pyx_codeobj__713
#define __pyx_codeobj__714 __pyx_mstate_global->__pyx_codeobj__714
#define __pyx_codeobj__716 __pyx_mstate_global->__pyx_codeobj__716
#define __pyx_codeobj__717 __pyx_mstate_global->__pyx_codeobj__717
/* #### Code section: module_code ### */

/* "Robot.py":133
 * 
 * class BufferedFileHandler(RotatingFileHandler):
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 *         super().__init__(filename, mode, maxBytes, backupCount, encoding, delay)
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 */

/* Python wrapper */
static PyObject *__pyx_pw_5Robot_19BufferedFileHandler_1__init__(PyObject *__pyx_self, 
#if CYTHON_METH_FASTCALL
PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
#else
PyObject *__pyx_args, PyObject *__pyx_kwds
#endif
); /*proto*/
static PyMethodDef __pyx_mdef_5Robot_19BufferedFileHandler_1__init__ = {"__init__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_5Robot_19BufferedFileHandler_1__init__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0};
static PyObject *__pyx_pw_5Robot_19BufferedFileHandler_1__init__(PyObject *__pyx_self, 
#if CYTHON_METH_FASTCALL
PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
#else
PyObject *__pyx_args, PyObject *__pyx_kwds
#endif
) {
  PyObject *__pyx_v_self = 0;
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  PyObject *__pyx_v_mode = 0;
  PyObject *__pyx_v_maxBytes = 0;
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  PyObject *__pyx_v_encoding = 0;
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  CYTHON_UNUSED Py_ssize_t __pyx_nargs;
  #endif
  CYTHON_UNUSED PyObject *const *__pyx_kwvalues;
  PyObject* values[7] = {0,0,0,0,0,0,0};
  int __pyx_lineno = 0;
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  int __pyx_clineno = 0;
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    o = (PyObject*)__pyx_freelist_5Robot___pyx_scope_struct_1_log_call[--__pyx_freecount_5Robot___pyx_scope_struct_1_log_call];
    memset(o, 0, sizeof(struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call));
    (void) PyObject_INIT(o, t);
    PyObject_GC_Track(o);
  } else
  #endif
  {
    o = (*t->tp_alloc)(t, 0);
    if (unlikely(!o)) return 0;
  }
  #endif
  return o;
}

static void __pyx_tp_dealloc_5Robot___pyx_scope_struct_1_log_call(PyObject *o) {
  struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call *p = (struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call *)o;
  #if CYTHON_USE_TP_FINALIZE
  if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) {
    if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_5Robot___pyx_scope_struct_1_log_call) {
      if (PyObject_CallFinalizerFromDealloc(o)) return;
    }
  }
  #endif
  PyObject_GC_UnTrack(o);
  Py_CLEAR(p->__pyx_v_func);
  #if CYTHON_USE_FREELISTS
  if (((int)(__pyx_freecount_5Robot___pyx_scope_struct_1_log_call < 8) & (int)(Py_TYPE(o)->tp_basicsize == sizeof(struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call)))) {
    __pyx_freelist_5Robot___pyx_scope_struct_1_log_call[__pyx_freecount_5Robot___pyx_scope_struct_1_log_call++] = ((struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call *)o);
  } else
  #endif
  {
    #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY
    (*Py_TYPE(o)->tp_free)(o);
    #else
    {
      freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free);
      if (tp_free) tp_free(o);
    }
    #endif
  }
}

static int __pyx_tp_traverse_5Robot___pyx_scope_struct_1_log_call(PyObject *o, visitproc v, void *a) {
  int e;
  struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call *p = (struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call *)o;
  if (p->__pyx_v_func) {
    e = (*v)(p->__pyx_v_func, a); if (e) return e;
  }
  return 0;
}

static int __pyx_tp_clear_5Robot___pyx_scope_struct_1_log_call(PyObject *o) {
  PyObject* tmp;
  struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call *p = (struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call *)o;
  tmp = ((PyObject*)p->__pyx_v_func);
  p->__pyx_v_func = Py_None; Py_INCREF(Py_None);
  Py_XDECREF(tmp);
  return 0;
}
#if CYTHON_USE_TYPE_SPECS
static PyType_Slot __pyx_type_5Robot___pyx_scope_struct_1_log_call_slots[] = {
  {Py_tp_dealloc, (void *)__pyx_tp_dealloc_5Robot___pyx_scope_struct_1_log_call},
  {Py_tp_traverse, (void *)__pyx_tp_traverse_5Robot___pyx_scope_struct_1_log_call},
  {Py_tp_clear, (void *)__pyx_tp_clear_5Robot___pyx_scope_struct_1_log_call},
  {Py_tp_new, (void *)__pyx_tp_new_5Robot___pyx_scope_struct_1_log_call},
  {0, 0},
};
static PyType_Spec __pyx_type_5Robot___pyx_scope_struct_1_log_call_spec = {
  "Robot.__pyx_scope_struct_1_log_call",
  sizeof(struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call),
  0,
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_HAVE_FINALIZE,
  __pyx_type_5Robot___pyx_scope_struct_1_log_call_slots,
};
#else

static PyTypeObject __pyx_type_5Robot___pyx_scope_struct_1_log_call = {
  PyVarObject_HEAD_INIT(0, 0)
  "Robot.""__pyx_scope_struct_1_log_call", /*tp_name*/
  sizeof(struct __pyx_obj_5Robot___pyx_scope_struct_1_log_call), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc_5Robot___pyx_scope_struct_1_log_call, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  0, /*tp_repr*/
  0, /*tp_as_number*/
  0, /*tp_as_sequence*/
  0, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  0, /*tp_str*/
  0, /*tp_getattro*/
  0, /*tp_setattro*/
  0, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/
  0, /*tp_doc*/
  __pyx_tp_traverse_5Robot___pyx_scope_struct_1_log_call, /*tp_traverse*/
  __pyx_tp_clear_5Robot___pyx_scope_struct_1_log_call, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  0, /*tp_methods*/
  0, /*tp_members*/
  0, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  #if !CYTHON_USE_TYPE_SPECS
  0, /*tp_dictoffset*/
  #endif
  0, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new_5Robot___pyx_scope_struct_1_log_call, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  #if CYTHON_USE_TP_FINALIZE
  0, /*tp_finalize*/
  #else
  NULL, /*tp_finalize*/
  #endif
  #endif
  #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800)
  0, /*tp_vectorcall*/
  #endif
  #if __PYX_NEED_TP_PRINT_SLOT == 1
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030C0000
  0, /*tp_watched*/
  #endif
  #if PY_VERSION_HEX >= 0x030d00A4
  0, /*tp_versions_used*/
  #endif
  #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000
  0, /*tp_pypy_flags*/
  #endif
};
#endif

static PyMethodDef __pyx_methods[] = {
  {0, 0, 0, 0}
};

static int __pyx_import_star_set(PyObject *o, PyObject* py_name, char *name) {
  static const char* internal_type_names[] = {
    "__pyx_ctuple_Py_ssize_t",
    "__pyx_ctuple_Py_ssize_t_struct",
    "__pyx_ctuple_double",
    "__pyx_ctuple_double_struct",
    "__pyx_ctuple_long",
    "__pyx_ctuple_long_struct",
    "__pyx_scope_struct_1_log_call",
    "__pyx_scope_struct__xmlrpc_timeout",
    0
  };
  const char** type_name = internal_type_names;
  while (*type_name) {
    if (__Pyx_StrEq(name, *type_name)) {
      PyErr_Format(PyExc_TypeError, "Cannot overwrite C type %s", name);
      goto bad;
    }
    type_name++;
  }
  if (0);
  else {
    if (PyObject_SetAttr(__pyx_m, py_name, o) < 0) goto bad;
  }
  return 0;
  bad:
  return -1;
}

static int
__Pyx_import_all_from(PyObject *locals, PyObject *v)
{
    PyObject *all = PyObject_GetAttrString(v, "__all__");
    PyObject *dict, *name, *value;
    int skip_leading_underscores = 0;
    int pos, err;
    if (all == NULL) {
        if (!PyErr_ExceptionMatches(PyExc_AttributeError))
            return -1;
        PyErr_Clear();
        dict = PyObject_GetAttrString(v, "__dict__");
        if (dict == NULL) {
            if (!PyErr_ExceptionMatches(PyExc_AttributeError))
                return -1;
            PyErr_SetString(PyExc_ImportError,
            "from-import-* object has no __dict__ and no __all__");
            return -1;
        }
#if PY_MAJOR_VERSION < 3
        all = PyObject_CallMethod(dict, (char *)"keys", NULL);
#else
        all = PyMapping_Keys(dict);
#endif
        Py_DECREF(dict);
        if (all == NULL)
            return -1;
        skip_leading_underscores = 1;
    }
    for (pos = 0, err = 0; ; pos++) {
        name = PySequence_GetItem(all, pos);
        if (name == NULL) {
            if (!PyErr_ExceptionMatches(PyExc_IndexError))
                err = -1;
            else
                PyErr_Clear();
            break;
        }
        if (skip_leading_underscores &&
#if PY_MAJOR_VERSION < 3
            likely(PyString_Check(name)) &&
            PyString_AS_STRING(name)[0] == '_')
#else
            likely(PyUnicode_Check(name)) &&
            likely(__Pyx_PyUnicode_GET_LENGTH(name)) &&
            __Pyx_PyUnicode_READ_CHAR(name, 0) == '_')
#endif
        {
            Py_DECREF(name);
            continue;
        }
        value = PyObject_GetAttr(v, name);
        if (value == NULL)
            err = -1;
        else if (PyDict_CheckExact(locals))
            err = PyDict_SetItem(locals, name, value);
        else
            err = PyObject_SetItem(locals, name, value);
        Py_DECREF(name);
        Py_XDECREF(value);
        if (err != 0)
            break;
    }
    Py_DECREF(all);
    return err;
}
static int __pyx_import_star(PyObject* m) {
    int i;
    int ret = -1;
    char* s;
    PyObject *locals = 0;
    PyObject *list = 0;
#if PY_MAJOR_VERSION >= 3
    PyObject *utf8_name = 0;
#endif
    PyObject *name;
    PyObject *item;
    locals = PyDict_New();              if (!locals) goto bad;
    if (__Pyx_import_all_from(locals, m) < 0) goto bad;
    list = PyDict_Items(locals);        if (!list) goto bad;
    for(i=0; i<PyList_GET_SIZE(list); i++) {
        name = PyTuple_GET_ITEM(PyList_GET_ITEM(list, i), 0);
        item = PyTuple_GET_ITEM(PyList_GET_ITEM(list, i), 1);
#if PY_MAJOR_VERSION >= 3
        utf8_name = PyUnicode_AsUTF8String(name);
        if (!utf8_name) goto bad;
        s = PyBytes_AS_STRING(utf8_name);
        if (__pyx_import_star_set(item, name, s) < 0) goto bad;
        Py_DECREF(utf8_name); utf8_name = 0;
#else
        s = PyString_AsString(name);
        if (!s) goto bad;
        if (__pyx_import_star_set(item, name, s) < 0) goto bad;
#endif
    }
    ret = 0;
bad:
    Py_XDECREF(locals);
    Py_XDECREF(list);
#if PY_MAJOR_VERSION >= 3
    Py_XDECREF(utf8_name);
#endif
    return ret;
}


#ifndef CYTHON_SMALL_CODE
#if defined(__clang__)
    #define CYTHON_SMALL_CODE
#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3))
    #define CYTHON_SMALL_CODE __attribute__((cold))
#else
    #define CYTHON_SMALL_CODE
#endif
#endif
/* #### Code section: pystring_table ### */

static int __Pyx_CreateStringTabAndInitStrings(void) {
  __Pyx_StringTabEntry __pyx_string_tab[] = {
    {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0},
    {&__pyx_kp_s_02X, __pyx_k_02X, sizeof(__pyx_k_02X), 0, 0, 1, 0},
    {&__pyx_kp_u_08d, __pyx_k_08d, sizeof(__pyx_k_08d), 0, 1, 0, 0},
    {&__pyx_kp_s_1, __pyx_k_1, sizeof(__pyx_k_1), 0, 0, 1, 0},
    {&__pyx_kp_u_10d, __pyx_k_10d, sizeof(__pyx_k_10d), 0, 1, 0, 0},
    {&__pyx_kp_s_192_168_58_2, __pyx_k_192_168_58_2, sizeof(__pyx_k_192_168_58_2), 0, 0, 1, 0},
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    {&__pyx_kp_s_20003, __pyx_k_20003, sizeof(__pyx_k_20003), 0, 0, 1, 0},
    {&__pyx_kp_s_4_2, __pyx_k_4_2, sizeof(__pyx_k_4_2), 0, 0, 1, 0},
    {&__pyx_kp_s_5A, __pyx_k_5A, sizeof(__pyx_k_5A), 0, 0, 1, 0},
    {&__pyx_n_s_AF_INET, __pyx_k_AF_INET, sizeof(__pyx_k_AF_INET), 0, 0, 1, 1},
    {&__pyx_n_s_AINum, __pyx_k_AINum, sizeof(__pyx_k_AINum), 0, 0, 1, 1},
    {&__pyx_n_s_AOIndex, __pyx_k_AOIndex, sizeof(__pyx_k_AOIndex), 0, 0, 1, 1},
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    {&__pyx_n_s_ARCStart, __pyx_k_ARCStart, sizeof(__pyx_k_ARCStart), 0, 0, 1, 1},
    {&__pyx_n_s_AccSmoothEnd, __pyx_k_AccSmoothEnd, sizeof(__pyx_k_AccSmoothEnd), 0, 0, 1, 1},
    {&__pyx_n_s_AccSmoothStart, __pyx_k_AccSmoothStart, sizeof(__pyx_k_AccSmoothStart), 0, 0, 1, 1},
    {&__pyx_n_s_ActGripper, __pyx_k_ActGripper, sizeof(__pyx_k_ActGripper), 0, 0, 1, 1},
    {&__pyx_n_s_AllDataSourceDownload, __pyx_k_AllDataSourceDownload, sizeof(__pyx_k_AllDataSourceDownload), 0, 0, 1, 1},
    {&__pyx_n_s_AllDataSourceDownloadPrepare, __pyx_k_AllDataSourceDownloadPrepare, sizeof(__pyx_k_AllDataSourceDownloadPrepare), 0, 0, 1, 1},
    {&__pyx_kp_u_An_error_occurred, __pyx_k_An_error_occurred, sizeof(__pyx_k_An_error_occurred), 0, 1, 0, 0},
    {&__pyx_kp_s_An_error_occurred_during_XML_RPC, __pyx_k_An_error_occurred_during_XML_RPC, sizeof(__pyx_k_An_error_occurred_during_XML_RPC), 0, 0, 1, 0},
    {&__pyx_n_s_AngularSpeedEnd, __pyx_k_AngularSpeedEnd, sizeof(__pyx_k_AngularSpeedEnd), 0, 0, 1, 1},
    {&__pyx_n_s_AngularSpeedStart, __pyx_k_AngularSpeedStart, sizeof(__pyx_k_AngularSpeedStart), 0, 0, 1, 1},
    {&__pyx_n_s_ArcWeldTraceControl, __pyx_k_ArcWeldTraceControl, sizeof(__pyx_k_ArcWeldTraceControl), 0, 0, 1, 1},
    {&__pyx_n_s_ArcWeldTraceExtAIChannelConfig, __pyx_k_ArcWeldTraceExtAIChannelConfig, sizeof(__pyx_k_ArcWeldTraceExtAIChannelConfig), 0, 0, 1, 1},
    {&__pyx_n_s_ArcWeldTraceReplayEnd, __pyx_k_ArcWeldTraceReplayEnd, sizeof(__pyx_k_ArcWeldTraceReplayEnd), 0, 0, 1, 1},
    {&__pyx_n_s_ArcWeldTraceReplayStart, __pyx_k_ArcWeldTraceReplayStart, sizeof(__pyx_k_ArcWeldTraceReplayStart), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoClearError, __pyx_k_AuxServoClearError, sizeof(__pyx_k_AuxServoClearError), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoEnable, __pyx_k_AuxServoEnable, sizeof(__pyx_k_AuxServoEnable), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoGetAcc, __pyx_k_AuxServoGetAcc, sizeof(__pyx_k_AuxServoGetAcc), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoGetEmergencyStopAcc, __pyx_k_AuxServoGetEmergencyStopAcc, sizeof(__pyx_k_AuxServoGetEmergencyStopAcc), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoGetParam, __pyx_k_AuxServoGetParam, sizeof(__pyx_k_AuxServoGetParam), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoGetStatus, __pyx_k_AuxServoGetStatus, sizeof(__pyx_k_AuxServoGetStatus), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoHoming, __pyx_k_AuxServoHoming, sizeof(__pyx_k_AuxServoHoming), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoSetAcc, __pyx_k_AuxServoSetAcc, sizeof(__pyx_k_AuxServoSetAcc), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoSetControlMode, __pyx_k_AuxServoSetControlMode, sizeof(__pyx_k_AuxServoSetControlMode), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoSetEmergencyStopAcc, __pyx_k_AuxServoSetEmergencyStopAcc, sizeof(__pyx_k_AuxServoSetEmergencyStopAcc), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoSetParam, __pyx_k_AuxServoSetParam, sizeof(__pyx_k_AuxServoSetParam), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoSetStatusID, __pyx_k_AuxServoSetStatusID, sizeof(__pyx_k_AuxServoSetStatusID), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoSetTargetPos, __pyx_k_AuxServoSetTargetPos, sizeof(__pyx_k_AuxServoSetTargetPos), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoSetTargetSpeed, __pyx_k_AuxServoSetTargetSpeed, sizeof(__pyx_k_AuxServoSetTargetSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServoSetTargetTorque, __pyx_k_AuxServoSetTargetTorque, sizeof(__pyx_k_AuxServoSetTargetTorque), 0, 0, 1, 1},
    {&__pyx_n_s_AuxServosetStatusID, __pyx_k_AuxServosetStatusID, sizeof(__pyx_k_AuxServosetStatusID), 0, 0, 1, 1},
    {&__pyx_n_s_AxleLuaUpload, __pyx_k_AxleLuaUpload, sizeof(__pyx_k_AxleLuaUpload), 0, 0, 1, 1},
    {&__pyx_n_s_AxleSensorActivate, __pyx_k_AxleSensorActivate, sizeof(__pyx_k_AxleSensorActivate), 0, 0, 1, 1},
    {&__pyx_n_s_AxleSensorConfig, __pyx_k_AxleSensorConfig, sizeof(__pyx_k_AxleSensorConfig), 0, 0, 1, 1},
    {&__pyx_n_s_AxleSensorConfigGet, __pyx_k_AxleSensorConfigGet, sizeof(__pyx_k_AxleSensorConfigGet), 0, 0, 1, 1},
    {&__pyx_n_s_AxleSensorRegWrite, __pyx_k_AxleSensorRegWrite, sizeof(__pyx_k_AxleSensorRegWrite), 0, 0, 1, 1},
    {&__pyx_n_s_B, __pyx_k_B, sizeof(__pyx_k_B), 0, 0, 1, 1},
    {&__pyx_n_s_BGain, __pyx_k_BGain, sizeof(__pyx_k_BGain), 0, 0, 1, 1},
    {&__pyx_n_s_BUFFER_SIZE, __pyx_k_BUFFER_SIZE, sizeof(__pyx_k_BUFFER_SIZE), 0, 0, 1, 1},
    {&__pyx_n_s_BufferedFileHandler, __pyx_k_BufferedFileHandler, sizeof(__pyx_k_BufferedFileHandler), 0, 0, 1, 1},
    {&__pyx_n_s_BufferedFileHandler___init, __pyx_k_BufferedFileHandler___init, sizeof(__pyx_k_BufferedFileHandler___init), 0, 0, 1, 1},
    {&__pyx_n_s_BufferedFileHandler_emit, __pyx_k_BufferedFileHandler_emit, sizeof(__pyx_k_BufferedFileHandler_emit), 0, 0, 1, 1},
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    {&__pyx_n_s_Circle, __pyx_k_Circle, sizeof(__pyx_k_Circle), 0, 0, 1, 1},
    {&__pyx_n_s_CloseRPC, __pyx_k_CloseRPC, sizeof(__pyx_k_CloseRPC), 0, 0, 1, 1},
    {&__pyx_n_s_ComputeExTCF, __pyx_k_ComputeExTCF, sizeof(__pyx_k_ComputeExTCF), 0, 0, 1, 1},
    {&__pyx_n_s_ComputeFileMD5, __pyx_k_ComputeFileMD5, sizeof(__pyx_k_ComputeFileMD5), 0, 0, 1, 1},
    {&__pyx_n_s_ComputePostPick, __pyx_k_ComputePostPick, sizeof(__pyx_k_ComputePostPick), 0, 0, 1, 1},
    {&__pyx_n_s_ComputePrePick, __pyx_k_ComputePrePick, sizeof(__pyx_k_ComputePrePick), 0, 0, 1, 1},
    {&__pyx_n_s_ComputeTcp4, __pyx_k_ComputeTcp4, sizeof(__pyx_k_ComputeTcp4), 0, 0, 1, 1},
    {&__pyx_n_s_ComputeTool, __pyx_k_ComputeTool, sizeof(__pyx_k_ComputeTool), 0, 0, 1, 1},
    {&__pyx_n_s_ComputeToolCoordWithPoints, __pyx_k_ComputeToolCoordWithPoints, sizeof(__pyx_k_ComputeToolCoordWithPoints), 0, 0, 1, 1},
    {&__pyx_n_s_ComputeWObjCoord, __pyx_k_ComputeWObjCoord, sizeof(__pyx_k_ComputeWObjCoord), 0, 0, 1, 1},
    {&__pyx_n_s_ComputeWObjCoordWithPoints, __pyx_k_ComputeWObjCoordWithPoints, sizeof(__pyx_k_ComputeWObjCoordWithPoints), 0, 0, 1, 1},
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    {&__pyx_n_s_GetLuaList, __pyx_k_GetLuaList, sizeof(__pyx_k_GetLuaList), 0, 0, 1, 1},
    {&__pyx_n_s_GetMotionQueueLength, __pyx_k_GetMotionQueueLength, sizeof(__pyx_k_GetMotionQueueLength), 0, 0, 1, 1},
    {&__pyx_n_s_GetProgramState, __pyx_k_GetProgramState, sizeof(__pyx_k_GetProgramState), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotCurJointsConfig, __pyx_k_GetRobotCurJointsConfig, sizeof(__pyx_k_GetRobotCurJointsConfig), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotEmergencyStopState, __pyx_k_GetRobotEmergencyStopState, sizeof(__pyx_k_GetRobotEmergencyStopState), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotErrorCode, __pyx_k_GetRobotErrorCode, sizeof(__pyx_k_GetRobotErrorCode), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotInstallAngle, __pyx_k_GetRobotInstallAngle, sizeof(__pyx_k_GetRobotInstallAngle), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotMotionDone, __pyx_k_GetRobotMotionDone, sizeof(__pyx_k_GetRobotMotionDone), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotRealTimeState, __pyx_k_GetRobotRealTimeState, sizeof(__pyx_k_GetRobotRealTimeState), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotRealtimeStateSamplePerio, __pyx_k_GetRobotRealtimeStateSamplePerio, sizeof(__pyx_k_GetRobotRealtimeStateSamplePerio), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotSN, __pyx_k_GetRobotSN, sizeof(__pyx_k_GetRobotSN), 0, 0, 1, 1},
    {&__pyx_n_s_GetRobotTeachingPoint, __pyx_k_GetRobotTeachingPoint, sizeof(__pyx_k_GetRobotTeachingPoint), 0, 0, 1, 1},
    {&__pyx_n_s_GetSDKComState, __pyx_k_GetSDKComState, sizeof(__pyx_k_GetSDKComState), 0, 0, 1, 1},
    {&__pyx_n_s_GetSDKVersion, __pyx_k_GetSDKVersion, sizeof(__pyx_k_GetSDKVersion), 0, 0, 1, 1},
    {&__pyx_n_s_GetSSHKeygen, __pyx_k_GetSSHKeygen, sizeof(__pyx_k_GetSSHKeygen), 0, 0, 1, 1},
    {&__pyx_n_s_GetSafetyCode, __pyx_k_GetSafetyCode, sizeof(__pyx_k_GetSafetyCode), 0, 0, 1, 1},
    {&__pyx_n_s_GetSafetyStopState, __pyx_k_GetSafetyStopState, sizeof(__pyx_k_GetSafetyStopState), 0, 0, 1, 1},
    {&__pyx_n_s_GetSegWeldDisDir, __pyx_k_GetSegWeldDisDir, sizeof(__pyx_k_GetSegWeldDisDir), 0, 0, 1, 1},
    {&__pyx_n_s_GetSegmentWeldPoint, __pyx_k_GetSegmentWeldPoint, sizeof(__pyx_k_GetSegmentWeldPoint), 0, 0, 1, 1},
    {&__pyx_kp_s_GetSegmentWeldPoint_fail, __pyx_k_GetSegmentWeldPoint_fail, sizeof(__pyx_k_GetSegmentWeldPoint_fail), 0, 0, 1, 0},
    {&__pyx_n_s_GetSlaveFirmVersion, __pyx_k_GetSlaveFirmVersion, sizeof(__pyx_k_GetSlaveFirmVersion), 0, 0, 1, 1},
    {&__pyx_n_s_GetSlaveHardVersion, __pyx_k_GetSlaveHardVersion, sizeof(__pyx_k_GetSlaveHardVersion), 0, 0, 1, 1},
    {&__pyx_n_s_GetSoftwareUpgradeState, __pyx_k_GetSoftwareUpgradeState, sizeof(__pyx_k_GetSoftwareUpgradeState), 0, 0, 1, 1},
    {&__pyx_n_s_GetSoftwareVersion, __pyx_k_GetSoftwareVersion, sizeof(__pyx_k_GetSoftwareVersion), 0, 0, 1, 1},
    {&__pyx_n_s_GetSysVarValue, __pyx_k_GetSysVarValue, sizeof(__pyx_k_GetSysVarValue), 0, 0, 1, 1},
    {&__pyx_n_s_GetSystemClock, __pyx_k_GetSystemClock, sizeof(__pyx_k_GetSystemClock), 0, 0, 1, 1},
    {&__pyx_n_s_GetTCPOffset, __pyx_k_GetTCPOffset, sizeof(__pyx_k_GetTCPOffset), 0, 0, 1, 1},
    {&__pyx_n_s_GetTPDStartPose, __pyx_k_GetTPDStartPose, sizeof(__pyx_k_GetTPDStartPose), 0, 0, 1, 1},
    {&__pyx_n_s_GetTargetPayload, __pyx_k_GetTargetPayload, sizeof(__pyx_k_GetTargetPayload), 0, 0, 1, 1},
    {&__pyx_n_s_GetTargetPayloadCog, __pyx_k_GetTargetPayloadCog, sizeof(__pyx_k_GetTargetPayloadCog), 0, 0, 1, 1},
    {&__pyx_n_s_GetTargetTCPCompositeSpeed, __pyx_k_GetTargetTCPCompositeSpeed, sizeof(__pyx_k_GetTargetTCPCompositeSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_GetTargetTCPSpeed, __pyx_k_GetTargetTCPSpeed, sizeof(__pyx_k_GetTargetTCPSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_GetToolAI, __pyx_k_GetToolAI, sizeof(__pyx_k_GetToolAI), 0, 0, 1, 1},
    {&__pyx_n_s_GetToolDI, __pyx_k_GetToolDI, sizeof(__pyx_k_GetToolDI), 0, 0, 1, 1},
    {&__pyx_n_s_GetToolDO, __pyx_k_GetToolDO, sizeof(__pyx_k_GetToolDO), 0, 0, 1, 1},
    {&__pyx_n_s_GetTrajectoryPointNum, __pyx_k_GetTrajectoryPointNum, sizeof(__pyx_k_GetTrajectoryPointNum), 0, 0, 1, 1},
    {&__pyx_n_s_GetTrajectoryStartPose, __pyx_k_GetTrajectoryStartPose, sizeof(__pyx_k_GetTrajectoryStartPose), 0, 0, 1, 1},
    {&__pyx_n_s_GetWObjOffset, __pyx_k_GetWObjOffset, sizeof(__pyx_k_GetWObjOffset), 0, 0, 1, 1},
    {&__pyx_n_s_GetWireSearchOffset, __pyx_k_GetWireSearchOffset, sizeof(__pyx_k_GetWireSearchOffset), 0, 0, 1, 1},
    {&__pyx_n_s_III, __pyx_k_III, sizeof(__pyx_k_III), 0, 0, 1, 1},
    {&__pyx_n_s_ILC_sign, __pyx_k_ILC_sign, sizeof(__pyx_k_ILC_sign), 0, 0, 1, 1},
    {&__pyx_n_s_INFO, __pyx_k_INFO, sizeof(__pyx_k_INFO), 0, 0, 1, 1},
    {&__pyx_n_s_IOEnable, __pyx_k_IOEnable, sizeof(__pyx_k_IOEnable), 0, 0, 1, 1},
    {&__pyx_n_s_ImmStopJOG, __pyx_k_ImmStopJOG, sizeof(__pyx_k_ImmStopJOG), 0, 0, 1, 1},
    {&__pyx_n_s_IsInDragTeach, __pyx_k_IsInDragTeach, sizeof(__pyx_k_IsInDragTeach), 0, 0, 1, 1},
    {&__pyx_n_s_JointOverSpeedProtectEnd, __pyx_k_JointOverSpeedProtectEnd, sizeof(__pyx_k_JointOverSpeedProtectEnd), 0, 0, 1, 1},
    {&__pyx_n_s_JointOverSpeedProtectStart, __pyx_k_JointOverSpeedProtectStart, sizeof(__pyx_k_JointOverSpeedProtectStart), 0, 0, 1, 1},
    {&__pyx_n_s_K, __pyx_k_K, sizeof(__pyx_k_K), 0, 0, 1, 1},
    {&__pyx_n_s_KGain, __pyx_k_KGain, sizeof(__pyx_k_KGain), 0, 0, 1, 1},
    {&__pyx_n_s_LaserSensorRecord, __pyx_k_LaserSensorRecord, sizeof(__pyx_k_LaserSensorRecord), 0, 0, 1, 1},
    {&__pyx_n_s_LaserTrackingLaserOff, __pyx_k_LaserTrackingLaserOff, sizeof(__pyx_k_LaserTrackingLaserOff), 0, 0, 1, 1},
    {&__pyx_n_s_LaserTrackingLaserOn, __pyx_k_LaserTrackingLaserOn, sizeof(__pyx_k_LaserTrackingLaserOn), 0, 0, 1, 1},
    {&__pyx_n_s_LaserTrackingSearchStart, __pyx_k_LaserTrackingSearchStart, sizeof(__pyx_k_LaserTrackingSearchStart), 0, 0, 1, 1},
    {&__pyx_n_s_LaserTrackingSearchStop, __pyx_k_LaserTrackingSearchStop, sizeof(__pyx_k_LaserTrackingSearchStop), 0, 0, 1, 1},
    {&__pyx_n_s_LaserTrackingTrackOff, __pyx_k_LaserTrackingTrackOff, sizeof(__pyx_k_LaserTrackingTrackOff), 0, 0, 1, 1},
    {&__pyx_n_s_LaserTrackingTrackOn, __pyx_k_LaserTrackingTrackOn, sizeof(__pyx_k_LaserTrackingTrackOn), 0, 0, 1, 1},
    {&__pyx_n_s_LinArcFIRPlanningEnd, __pyx_k_LinArcFIRPlanningEnd, sizeof(__pyx_k_LinArcFIRPlanningEnd), 0, 0, 1, 1},
    {&__pyx_n_s_LinArcFIRPlanningStart, __pyx_k_LinArcFIRPlanningStart, sizeof(__pyx_k_LinArcFIRPlanningStart), 0, 0, 1, 1},
    {&__pyx_n_s_LoadCtrlOpenLUA, __pyx_k_LoadCtrlOpenLUA, sizeof(__pyx_k_LoadCtrlOpenLUA), 0, 0, 1, 1},
    {&__pyx_n_s_LoadDefaultProgConfig, __pyx_k_LoadDefaultProgConfig, sizeof(__pyx_k_LoadDefaultProgConfig), 0, 0, 1, 1},
    {&__pyx_n_s_LoadIdentifyDynFilterInit, __pyx_k_LoadIdentifyDynFilterInit, sizeof(__pyx_k_LoadIdentifyDynFilterInit), 0, 0, 1, 1},
    {&__pyx_n_s_LoadIdentifyDynVarInit, __pyx_k_LoadIdentifyDynVarInit, sizeof(__pyx_k_LoadIdentifyDynVarInit), 0, 0, 1, 1},
    {&__pyx_n_s_LoadIdentifyGetResult, __pyx_k_LoadIdentifyGetResult, sizeof(__pyx_k_LoadIdentifyGetResult), 0, 0, 1, 1},
    {&__pyx_n_s_LoadIdentifyMain, __pyx_k_LoadIdentifyMain, sizeof(__pyx_k_LoadIdentifyMain), 0, 0, 1, 1},
    {&__pyx_n_s_LoadTPD, __pyx_k_LoadTPD, sizeof(__pyx_k_LoadTPD), 0, 0, 1, 1},
    {&__pyx_n_s_LoadTrajectoryJ, __pyx_k_LoadTrajectoryJ, sizeof(__pyx_k_LoadTrajectoryJ), 0, 0, 1, 1},
    {&__pyx_n_s_LoadTrajectoryLA, __pyx_k_LoadTrajectoryLA, sizeof(__pyx_k_LoadTrajectoryLA), 0, 0, 1, 1},
    {&__pyx_n_s_Lock, __pyx_k_Lock, sizeof(__pyx_k_Lock), 0, 0, 1, 1},
    {&__pyx_n_s_LogWriterThread, __pyx_k_LogWriterThread, sizeof(__pyx_k_LogWriterThread), 0, 0, 1, 1},
    {&__pyx_n_s_LogWriterThread___init, __pyx_k_LogWriterThread___init, sizeof(__pyx_k_LogWriterThread___init), 0, 0, 1, 1},
    {&__pyx_n_s_LogWriterThread_run, __pyx_k_LogWriterThread_run, sizeof(__pyx_k_LogWriterThread_run), 0, 0, 1, 1},
    {&__pyx_n_s_LoggerInit, __pyx_k_LoggerInit, sizeof(__pyx_k_LoggerInit), 0, 0, 1, 1},
    {&__pyx_n_s_LuaDelete, __pyx_k_LuaDelete, sizeof(__pyx_k_LuaDelete), 0, 0, 1, 1},
    {&__pyx_n_s_LuaDownLoad, __pyx_k_LuaDownLoad, sizeof(__pyx_k_LuaDownLoad), 0, 0, 1, 1},
    {&__pyx_n_s_LuaUpLoadUpdate, __pyx_k_LuaUpLoadUpdate, sizeof(__pyx_k_LuaUpLoadUpdate), 0, 0, 1, 1},
    {&__pyx_n_s_LuaUpload, __pyx_k_LuaUpload, sizeof(__pyx_k_LuaUpload), 0, 0, 1, 1},
    {&__pyx_n_s_M, __pyx_k_M, sizeof(__pyx_k_M), 0, 0, 1, 1},
    {&__pyx_n_s_MAX_UPLOAD_FILE_SIZE, __pyx_k_MAX_UPLOAD_FILE_SIZE, sizeof(__pyx_k_MAX_UPLOAD_FILE_SIZE), 0, 0, 1, 1},
    {&__pyx_n_s_Mode, __pyx_k_Mode, sizeof(__pyx_k_Mode), 0, 0, 1, 1},
    {&__pyx_n_s_MoveAOStart, __pyx_k_MoveAOStart, sizeof(__pyx_k_MoveAOStart), 0, 0, 1, 1},
    {&__pyx_n_s_MoveAOStop, __pyx_k_MoveAOStop, sizeof(__pyx_k_MoveAOStop), 0, 0, 1, 1},
    {&__pyx_n_s_MoveC, __pyx_k_MoveC, sizeof(__pyx_k_MoveC), 0, 0, 1, 1},
    {&__pyx_n_s_MoveCart, __pyx_k_MoveCart, sizeof(__pyx_k_MoveCart), 0, 0, 1, 1},
    {&__pyx_n_s_MoveGripper, __pyx_k_MoveGripper, sizeof(__pyx_k_MoveGripper), 0, 0, 1, 1},
    {&__pyx_n_s_MoveJ, __pyx_k_MoveJ, sizeof(__pyx_k_MoveJ), 0, 0, 1, 1},
    {&__pyx_n_s_MoveL, __pyx_k_MoveL, sizeof(__pyx_k_MoveL), 0, 0, 1, 1},
    {&__pyx_n_s_MoveTPD, __pyx_k_MoveTPD, sizeof(__pyx_k_MoveTPD), 0, 0, 1, 1},
    {&__pyx_n_s_MoveToolAOStart, __pyx_k_MoveToolAOStart, sizeof(__pyx_k_MoveToolAOStart), 0, 0, 1, 1},
    {&__pyx_n_s_MoveToolAOStop, __pyx_k_MoveToolAOStop, sizeof(__pyx_k_MoveToolAOStop), 0, 0, 1, 1},
    {&__pyx_n_s_MoveTrajectoryJ, __pyx_k_MoveTrajectoryJ, sizeof(__pyx_k_MoveTrajectoryJ), 0, 0, 1, 1},
    {&__pyx_n_s_MoveTrajectoryLA, __pyx_k_MoveTrajectoryLA, sizeof(__pyx_k_MoveTrajectoryLA), 0, 0, 1, 1},
    {&__pyx_n_s_MultilayerOffsetTrsfToBase, __pyx_k_MultilayerOffsetTrsfToBase, sizeof(__pyx_k_MultilayerOffsetTrsfToBase), 0, 0, 1, 1},
    {&__pyx_n_s_NewSpiral, __pyx_k_NewSpiral, sizeof(__pyx_k_NewSpiral), 0, 0, 1, 1},
    {&__pyx_n_s_NewSplineEnd, __pyx_k_NewSplineEnd, sizeof(__pyx_k_NewSplineEnd), 0, 0, 1, 1},
    {&__pyx_n_s_NewSplinePoint, __pyx_k_NewSplinePoint, sizeof(__pyx_k_NewSplinePoint), 0, 0, 1, 1},
    {&__pyx_n_s_NewSplineStart, __pyx_k_NewSplineStart, sizeof(__pyx_k_NewSplineStart), 0, 0, 1, 1},
    {&__pyx_n_s_PauseMotion, __pyx_k_PauseMotion, sizeof(__pyx_k_PauseMotion), 0, 0, 1, 1},
    {&__pyx_n_s_PointTableDownLoad, __pyx_k_PointTableDownLoad, sizeof(__pyx_k_PointTableDownLoad), 0, 0, 1, 1},
    {&__pyx_n_s_PointTableDownload, __pyx_k_PointTableDownload, sizeof(__pyx_k_PointTableDownload), 0, 0, 1, 1},
    {&__pyx_n_s_PointTableSwitch, __pyx_k_PointTableSwitch, sizeof(__pyx_k_PointTableSwitch), 0, 0, 1, 1},
    {&__pyx_n_s_PointTableUpLoad, __pyx_k_PointTableUpLoad, sizeof(__pyx_k_PointTableUpLoad), 0, 0, 1, 1},
    {&__pyx_n_s_PointTableUpdateLua, __pyx_k_PointTableUpdateLua, sizeof(__pyx_k_PointTableUpdateLua), 0, 0, 1, 1},
    {&__pyx_n_s_PointTableUpload, __pyx_k_PointTableUpload, sizeof(__pyx_k_PointTableUpload), 0, 0, 1, 1},
    {&__pyx_kp_s_PointTable_not_Found, __pyx_k_PointTable_not_Found, sizeof(__pyx_k_PointTable_not_Found), 0, 0, 1, 0},
    {&__pyx_n_s_PointsOffsetDisable, __pyx_k_PointsOffsetDisable, sizeof(__pyx_k_PointsOffsetDisable), 0, 0, 1, 1},
    {&__pyx_n_s_PointsOffsetEnable, __pyx_k_PointsOffsetEnable, sizeof(__pyx_k_PointsOffsetEnable), 0, 0, 1, 1},
    {&__pyx_n_s_PositionorComputeECoordSys, __pyx_k_PositionorComputeECoordSys, sizeof(__pyx_k_PositionorComputeECoordSys), 0, 0, 1, 1},
    {&__pyx_n_s_PositionorSetRefPoint, __pyx_k_PositionorSetRefPoint, sizeof(__pyx_k_PositionorSetRefPoint), 0, 0, 1, 1},
    {&__pyx_n_s_ProgramLoad, __pyx_k_ProgramLoad, sizeof(__pyx_k_ProgramLoad), 0, 0, 1, 1},
    {&__pyx_n_s_ProgramPause, __pyx_k_ProgramPause, sizeof(__pyx_k_ProgramPause), 0, 0, 1, 1},
    {&__pyx_n_s_ProgramResume, __pyx_k_ProgramResume, sizeof(__pyx_k_ProgramResume), 0, 0, 1, 1},
    {&__pyx_n_s_ProgramRun, __pyx_k_ProgramRun, sizeof(__pyx_k_ProgramRun), 0, 0, 1, 1},
    {&__pyx_n_s_ProgramStop, __pyx_k_ProgramStop, sizeof(__pyx_k_ProgramStop), 0, 0, 1, 1},
    {&__pyx_n_s_PtpFIRPlanningEnd, __pyx_k_PtpFIRPlanningEnd, sizeof(__pyx_k_PtpFIRPlanningEnd), 0, 0, 1, 1},
    {&__pyx_n_s_PtpFIRPlanningStart, __pyx_k_PtpFIRPlanningStart, sizeof(__pyx_k_PtpFIRPlanningStart), 0, 0, 1, 1},
    {&__pyx_n_s_Queue, __pyx_k_Queue, sizeof(__pyx_k_Queue), 0, 0, 1, 1},
    {&__pyx_n_s_ROBOT_AUX_STATE, __pyx_k_ROBOT_AUX_STATE, sizeof(__pyx_k_ROBOT_AUX_STATE), 0, 0, 1, 1},
    {&__pyx_n_s_ROBOT_REALTIME_PORT, __pyx_k_ROBOT_REALTIME_PORT, sizeof(__pyx_k_ROBOT_REALTIME_PORT), 0, 0, 1, 1},
    {&__pyx_n_s_RPC, __pyx_k_RPC, sizeof(__pyx_k_RPC), 0, 0, 1, 1},
    {&__pyx_n_s_RPCLogger, __pyx_k_RPCLogger, sizeof(__pyx_k_RPCLogger), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ARCEnd, __pyx_k_RPC_ARCEnd, sizeof(__pyx_k_RPC_ARCEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ARCStart, __pyx_k_RPC_ARCStart, sizeof(__pyx_k_RPC_ARCStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AccSmoothEnd, __pyx_k_RPC_AccSmoothEnd, sizeof(__pyx_k_RPC_AccSmoothEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AccSmoothStart, __pyx_k_RPC_AccSmoothStart, sizeof(__pyx_k_RPC_AccSmoothStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ActGripper, __pyx_k_RPC_ActGripper, sizeof(__pyx_k_RPC_ActGripper), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AllDataSourceDownload, __pyx_k_RPC_AllDataSourceDownload, sizeof(__pyx_k_RPC_AllDataSourceDownload), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AngularSpeedEnd, __pyx_k_RPC_AngularSpeedEnd, sizeof(__pyx_k_RPC_AngularSpeedEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AngularSpeedStart, __pyx_k_RPC_AngularSpeedStart, sizeof(__pyx_k_RPC_AngularSpeedStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ArcWeldTraceControl, __pyx_k_RPC_ArcWeldTraceControl, sizeof(__pyx_k_RPC_ArcWeldTraceControl), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ArcWeldTraceExtAIChannelConf, __pyx_k_RPC_ArcWeldTraceExtAIChannelConf, sizeof(__pyx_k_RPC_ArcWeldTraceExtAIChannelConf), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ArcWeldTraceReplayEnd, __pyx_k_RPC_ArcWeldTraceReplayEnd, sizeof(__pyx_k_RPC_ArcWeldTraceReplayEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ArcWeldTraceReplayStart, __pyx_k_RPC_ArcWeldTraceReplayStart, sizeof(__pyx_k_RPC_ArcWeldTraceReplayStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoClearError, __pyx_k_RPC_AuxServoClearError, sizeof(__pyx_k_RPC_AuxServoClearError), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoEnable, __pyx_k_RPC_AuxServoEnable, sizeof(__pyx_k_RPC_AuxServoEnable), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoGetAcc, __pyx_k_RPC_AuxServoGetAcc, sizeof(__pyx_k_RPC_AuxServoGetAcc), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoGetEmergencyStopAcc, __pyx_k_RPC_AuxServoGetEmergencyStopAcc, sizeof(__pyx_k_RPC_AuxServoGetEmergencyStopAcc), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoGetParam, __pyx_k_RPC_AuxServoGetParam, sizeof(__pyx_k_RPC_AuxServoGetParam), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoGetStatus, __pyx_k_RPC_AuxServoGetStatus, sizeof(__pyx_k_RPC_AuxServoGetStatus), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoHoming, __pyx_k_RPC_AuxServoHoming, sizeof(__pyx_k_RPC_AuxServoHoming), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoSetAcc, __pyx_k_RPC_AuxServoSetAcc, sizeof(__pyx_k_RPC_AuxServoSetAcc), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoSetControlMode, __pyx_k_RPC_AuxServoSetControlMode, sizeof(__pyx_k_RPC_AuxServoSetControlMode), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoSetEmergencyStopAcc, __pyx_k_RPC_AuxServoSetEmergencyStopAcc, sizeof(__pyx_k_RPC_AuxServoSetEmergencyStopAcc), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoSetParam, __pyx_k_RPC_AuxServoSetParam, sizeof(__pyx_k_RPC_AuxServoSetParam), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoSetTargetPos, __pyx_k_RPC_AuxServoSetTargetPos, sizeof(__pyx_k_RPC_AuxServoSetTargetPos), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoSetTargetSpeed, __pyx_k_RPC_AuxServoSetTargetSpeed, sizeof(__pyx_k_RPC_AuxServoSetTargetSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServoSetTargetTorque, __pyx_k_RPC_AuxServoSetTargetTorque, sizeof(__pyx_k_RPC_AuxServoSetTargetTorque), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AuxServosetStatusID, __pyx_k_RPC_AuxServosetStatusID, sizeof(__pyx_k_RPC_AuxServosetStatusID), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AxleLuaUpload, __pyx_k_RPC_AxleLuaUpload, sizeof(__pyx_k_RPC_AxleLuaUpload), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AxleSensorActivate, __pyx_k_RPC_AxleSensorActivate, sizeof(__pyx_k_RPC_AxleSensorActivate), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AxleSensorConfig, __pyx_k_RPC_AxleSensorConfig, sizeof(__pyx_k_RPC_AxleSensorConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AxleSensorConfigGet, __pyx_k_RPC_AxleSensorConfigGet, sizeof(__pyx_k_RPC_AxleSensorConfigGet), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_AxleSensorRegWrite, __pyx_k_RPC_AxleSensorRegWrite, sizeof(__pyx_k_RPC_AxleSensorRegWrite), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_Circle, __pyx_k_RPC_Circle, sizeof(__pyx_k_RPC_Circle), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_CloseRPC, __pyx_k_RPC_CloseRPC, sizeof(__pyx_k_RPC_CloseRPC), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputeExTCF, __pyx_k_RPC_ComputeExTCF, sizeof(__pyx_k_RPC_ComputeExTCF), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputeFileMD5, __pyx_k_RPC_ComputeFileMD5, sizeof(__pyx_k_RPC_ComputeFileMD5), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputePostPick, __pyx_k_RPC_ComputePostPick, sizeof(__pyx_k_RPC_ComputePostPick), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputePrePick, __pyx_k_RPC_ComputePrePick, sizeof(__pyx_k_RPC_ComputePrePick), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputeTcp4, __pyx_k_RPC_ComputeTcp4, sizeof(__pyx_k_RPC_ComputeTcp4), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputeTool, __pyx_k_RPC_ComputeTool, sizeof(__pyx_k_RPC_ComputeTool), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputeToolCoordWithPoints, __pyx_k_RPC_ComputeToolCoordWithPoints, sizeof(__pyx_k_RPC_ComputeToolCoordWithPoints), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputeWObjCoord, __pyx_k_RPC_ComputeWObjCoord, sizeof(__pyx_k_RPC_ComputeWObjCoord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ComputeWObjCoordWithPoints, __pyx_k_RPC_ComputeWObjCoordWithPoints, sizeof(__pyx_k_RPC_ComputeWObjCoordWithPoints), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorCatchPointComp, __pyx_k_RPC_ConveyorCatchPointComp, sizeof(__pyx_k_RPC_ConveyorCatchPointComp), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorComDetect, __pyx_k_RPC_ConveyorComDetect, sizeof(__pyx_k_RPC_ConveyorComDetect), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorComDetectTrigger, __pyx_k_RPC_ConveyorComDetectTrigger, sizeof(__pyx_k_RPC_ConveyorComDetectTrigger), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorGetTrackData, __pyx_k_RPC_ConveyorGetTrackData, sizeof(__pyx_k_RPC_ConveyorGetTrackData), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorIODetect, __pyx_k_RPC_ConveyorIODetect, sizeof(__pyx_k_RPC_ConveyorIODetect), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorPointARecord, __pyx_k_RPC_ConveyorPointARecord, sizeof(__pyx_k_RPC_ConveyorPointARecord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorPointBRecord, __pyx_k_RPC_ConveyorPointBRecord, sizeof(__pyx_k_RPC_ConveyorPointBRecord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorPointIORecord, __pyx_k_RPC_ConveyorPointIORecord, sizeof(__pyx_k_RPC_ConveyorPointIORecord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorRefPointRecord, __pyx_k_RPC_ConveyorRefPointRecord, sizeof(__pyx_k_RPC_ConveyorRefPointRecord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorSetParam, __pyx_k_RPC_ConveyorSetParam, sizeof(__pyx_k_RPC_ConveyorSetParam), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorStartEnd, __pyx_k_RPC_ConveyorStartEnd, sizeof(__pyx_k_RPC_ConveyorStartEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorTrackEnd, __pyx_k_RPC_ConveyorTrackEnd, sizeof(__pyx_k_RPC_ConveyorTrackEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorTrackMoveL, __pyx_k_RPC_ConveyorTrackMoveL, sizeof(__pyx_k_RPC_ConveyorTrackMoveL), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ConveyorTrackStart, __pyx_k_RPC_ConveyorTrackStart, sizeof(__pyx_k_RPC_ConveyorTrackStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_CustomCollisionDetectionEnd, __pyx_k_RPC_CustomCollisionDetectionEnd, sizeof(__pyx_k_RPC_CustomCollisionDetectionEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_CustomCollisionDetectionStar, __pyx_k_RPC_CustomCollisionDetectionStar, sizeof(__pyx_k_RPC_CustomCollisionDetectionStar), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_DataPackageDownload, __pyx_k_RPC_DataPackageDownload, sizeof(__pyx_k_RPC_DataPackageDownload), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_DragTeachSwitch, __pyx_k_RPC_DragTeachSwitch, sizeof(__pyx_k_RPC_DragTeachSwitch), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_EndForceDragControl, __pyx_k_RPC_EndForceDragControl, sizeof(__pyx_k_RPC_EndForceDragControl), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisActiveECoordSys, __pyx_k_RPC_ExtAxisActiveECoordSys, sizeof(__pyx_k_RPC_ExtAxisActiveECoordSys), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisComputeECoordSys, __pyx_k_RPC_ExtAxisComputeECoordSys, sizeof(__pyx_k_RPC_ExtAxisComputeECoordSys), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisMove, __pyx_k_RPC_ExtAxisMove, sizeof(__pyx_k_RPC_ExtAxisMove), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisParamConfig, __pyx_k_RPC_ExtAxisParamConfig, sizeof(__pyx_k_RPC_ExtAxisParamConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisServoOn, __pyx_k_RPC_ExtAxisServoOn, sizeof(__pyx_k_RPC_ExtAxisServoOn), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisSetHoming, __pyx_k_RPC_ExtAxisSetHoming, sizeof(__pyx_k_RPC_ExtAxisSetHoming), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisSetRefPoint, __pyx_k_RPC_ExtAxisSetRefPoint, sizeof(__pyx_k_RPC_ExtAxisSetRefPoint), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisStartJog, __pyx_k_RPC_ExtAxisStartJog, sizeof(__pyx_k_RPC_ExtAxisStartJog), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisStopJog, __pyx_k_RPC_ExtAxisStopJog, sizeof(__pyx_k_RPC_ExtAxisStopJog), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisSyncMoveC, __pyx_k_RPC_ExtAxisSyncMoveC, sizeof(__pyx_k_RPC_ExtAxisSyncMoveC), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisSyncMoveJ, __pyx_k_RPC_ExtAxisSyncMoveJ, sizeof(__pyx_k_RPC_ExtAxisSyncMoveJ), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtAxisSyncMoveL, __pyx_k_RPC_ExtAxisSyncMoveL, sizeof(__pyx_k_RPC_ExtAxisSyncMoveL), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtDevGetUDPComParam, __pyx_k_RPC_ExtDevGetUDPComParam, sizeof(__pyx_k_RPC_ExtDevGetUDPComParam), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtDevLoadUDPDriver, __pyx_k_RPC_ExtDevLoadUDPDriver, sizeof(__pyx_k_RPC_ExtDevLoadUDPDriver), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtDevSetUDPComParam, __pyx_k_RPC_ExtDevSetUDPComParam, sizeof(__pyx_k_RPC_ExtDevSetUDPComParam), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtDevUDPClientComClose, __pyx_k_RPC_ExtDevUDPClientComClose, sizeof(__pyx_k_RPC_ExtDevUDPClientComClose), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtDevUDPClientComReset, __pyx_k_RPC_ExtDevUDPClientComReset, sizeof(__pyx_k_RPC_ExtDevUDPClientComReset), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ExtDevUnloadUDPDriver, __pyx_k_RPC_ExtDevUnloadUDPDriver, sizeof(__pyx_k_RPC_ExtDevUnloadUDPDriver), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_Activate, __pyx_k_RPC_FT_Activate, sizeof(__pyx_k_RPC_FT_Activate), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_CalCenterEnd, __pyx_k_RPC_FT_CalCenterEnd, sizeof(__pyx_k_RPC_FT_CalCenterEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_CalCenterStart, __pyx_k_RPC_FT_CalCenterStart, sizeof(__pyx_k_RPC_FT_CalCenterStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_ComplianceStart, __pyx_k_RPC_FT_ComplianceStart, sizeof(__pyx_k_RPC_FT_ComplianceStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_ComplianceStop, __pyx_k_RPC_FT_ComplianceStop, sizeof(__pyx_k_RPC_FT_ComplianceStop), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_Control, __pyx_k_RPC_FT_Control, sizeof(__pyx_k_RPC_FT_Control), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_FindSurface, __pyx_k_RPC_FT_FindSurface, sizeof(__pyx_k_RPC_FT_FindSurface), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_GetConfig, __pyx_k_RPC_FT_GetConfig, sizeof(__pyx_k_RPC_FT_GetConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_GetForceTorqueOrigin, __pyx_k_RPC_FT_GetForceTorqueOrigin, sizeof(__pyx_k_RPC_FT_GetForceTorqueOrigin), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_GetForceTorqueRCS, __pyx_k_RPC_FT_GetForceTorqueRCS, sizeof(__pyx_k_RPC_FT_GetForceTorqueRCS), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_Guard, __pyx_k_RPC_FT_Guard, sizeof(__pyx_k_RPC_FT_Guard), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_LinInsertion, __pyx_k_RPC_FT_LinInsertion, sizeof(__pyx_k_RPC_FT_LinInsertion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_PdCogIdenCompute, __pyx_k_RPC_FT_PdCogIdenCompute, sizeof(__pyx_k_RPC_FT_PdCogIdenCompute), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_PdCogIdenRecord, __pyx_k_RPC_FT_PdCogIdenRecord, sizeof(__pyx_k_RPC_FT_PdCogIdenRecord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_PdIdenCompute, __pyx_k_RPC_FT_PdIdenCompute, sizeof(__pyx_k_RPC_FT_PdIdenCompute), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_PdIdenRecord, __pyx_k_RPC_FT_PdIdenRecord, sizeof(__pyx_k_RPC_FT_PdIdenRecord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_RotInsertion, __pyx_k_RPC_FT_RotInsertion, sizeof(__pyx_k_RPC_FT_RotInsertion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_SetConfig, __pyx_k_RPC_FT_SetConfig, sizeof(__pyx_k_RPC_FT_SetConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_SetRCS, __pyx_k_RPC_FT_SetRCS, sizeof(__pyx_k_RPC_FT_SetRCS), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_SetZero, __pyx_k_RPC_FT_SetZero, sizeof(__pyx_k_RPC_FT_SetZero), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FT_SpiralSearch, __pyx_k_RPC_FT_SpiralSearch, sizeof(__pyx_k_RPC_FT_SpiralSearch), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ForceAndJointImpedanceStartS, __pyx_k_RPC_ForceAndJointImpedanceStartS, sizeof(__pyx_k_RPC_ForceAndJointImpedanceStartS), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ForceSensorAutoComputeLoad, __pyx_k_RPC_ForceSensorAutoComputeLoad, sizeof(__pyx_k_RPC_ForceSensorAutoComputeLoad), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ForceSensorComputeLoad, __pyx_k_RPC_ForceSensorComputeLoad, sizeof(__pyx_k_RPC_ForceSensorComputeLoad), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ForceSensorSetSaveDataFlag, __pyx_k_RPC_ForceSensorSetSaveDataFlag, sizeof(__pyx_k_RPC_ForceSensorSetSaveDataFlag), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_FrictionCompensationOnOff, __pyx_k_RPC_FrictionCompensationOnOff, sizeof(__pyx_k_RPC_FrictionCompensationOnOff), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAI, __pyx_k_RPC_GetAI, sizeof(__pyx_k_RPC_GetAI), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualJointAccDegree, __pyx_k_RPC_GetActualJointAccDegree, sizeof(__pyx_k_RPC_GetActualJointAccDegree), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualJointPosDegree, __pyx_k_RPC_GetActualJointPosDegree, sizeof(__pyx_k_RPC_GetActualJointPosDegree), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualJointPosRadian, __pyx_k_RPC_GetActualJointPosRadian, sizeof(__pyx_k_RPC_GetActualJointPosRadian), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualJointSpeedsDegree, __pyx_k_RPC_GetActualJointSpeedsDegree, sizeof(__pyx_k_RPC_GetActualJointSpeedsDegree), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualTCPCompositeSpeed, __pyx_k_RPC_GetActualTCPCompositeSpeed, sizeof(__pyx_k_RPC_GetActualTCPCompositeSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualTCPNum, __pyx_k_RPC_GetActualTCPNum, sizeof(__pyx_k_RPC_GetActualTCPNum), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualTCPPose, __pyx_k_RPC_GetActualTCPPose, sizeof(__pyx_k_RPC_GetActualTCPPose), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualTCPSpeed, __pyx_k_RPC_GetActualTCPSpeed, sizeof(__pyx_k_RPC_GetActualTCPSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualToolFlangePose, __pyx_k_RPC_GetActualToolFlangePose, sizeof(__pyx_k_RPC_GetActualToolFlangePose), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetActualWObjNum, __pyx_k_RPC_GetActualWObjNum, sizeof(__pyx_k_RPC_GetActualWObjNum), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAuxAI, __pyx_k_RPC_GetAuxAI, sizeof(__pyx_k_RPC_GetAuxAI), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAuxDI, __pyx_k_RPC_GetAuxDI, sizeof(__pyx_k_RPC_GetAuxDI), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAxleCommunicationParam, __pyx_k_RPC_GetAxleCommunicationParam, sizeof(__pyx_k_RPC_GetAxleCommunicationParam), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAxleLuaEnableDevice, __pyx_k_RPC_GetAxleLuaEnableDevice, sizeof(__pyx_k_RPC_GetAxleLuaEnableDevice), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAxleLuaEnableDeviceType, __pyx_k_RPC_GetAxleLuaEnableDeviceType, sizeof(__pyx_k_RPC_GetAxleLuaEnableDeviceType), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAxleLuaEnableStatus, __pyx_k_RPC_GetAxleLuaEnableStatus, sizeof(__pyx_k_RPC_GetAxleLuaEnableStatus), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAxleLuaGripperFunc, __pyx_k_RPC_GetAxleLuaGripperFunc, sizeof(__pyx_k_RPC_GetAxleLuaGripperFunc), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetAxlePointRecordBtnState, __pyx_k_RPC_GetAxlePointRecordBtnState, sizeof(__pyx_k_RPC_GetAxlePointRecordBtnState), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetControllerIP, __pyx_k_RPC_GetControllerIP, sizeof(__pyx_k_RPC_GetControllerIP), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetCtrlOpenLUAName, __pyx_k_RPC_GetCtrlOpenLUAName, sizeof(__pyx_k_RPC_GetCtrlOpenLUAName), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetCurrentLine, __pyx_k_RPC_GetCurrentLine, sizeof(__pyx_k_RPC_GetCurrentLine), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetDHCompensation, __pyx_k_RPC_GetDHCompensation, sizeof(__pyx_k_RPC_GetDHCompensation), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetDI, __pyx_k_RPC_GetDI, sizeof(__pyx_k_RPC_GetDI), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetDO, __pyx_k_RPC_GetDO, sizeof(__pyx_k_RPC_GetDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetDefaultTransVel, __pyx_k_RPC_GetDefaultTransVel, sizeof(__pyx_k_RPC_GetDefaultTransVel), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetExAxisDriverConfig, __pyx_k_RPC_GetExAxisDriverConfig, sizeof(__pyx_k_RPC_GetExAxisDriverConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetExDevProtocol, __pyx_k_RPC_GetExDevProtocol, sizeof(__pyx_k_RPC_GetExDevProtocol), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetForceAndTorqueDragState, __pyx_k_RPC_GetForceAndTorqueDragState, sizeof(__pyx_k_RPC_GetForceAndTorqueDragState), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetForceSensorPayload, __pyx_k_RPC_GetForceSensorPayload, sizeof(__pyx_k_RPC_GetForceSensorPayload), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetForceSensorPayloadCog, __pyx_k_RPC_GetForceSensorPayloadCog, sizeof(__pyx_k_RPC_GetForceSensorPayloadCog), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetForwardKin, __pyx_k_RPC_GetForwardKin, sizeof(__pyx_k_RPC_GetForwardKin), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetGripperConfig, __pyx_k_RPC_GetGripperConfig, sizeof(__pyx_k_RPC_GetGripperConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetGripperMotionDone, __pyx_k_RPC_GetGripperMotionDone, sizeof(__pyx_k_RPC_GetGripperMotionDone), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetGripperRotNum, __pyx_k_RPC_GetGripperRotNum, sizeof(__pyx_k_RPC_GetGripperRotNum), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetGripperRotSpeed, __pyx_k_RPC_GetGripperRotSpeed, sizeof(__pyx_k_RPC_GetGripperRotSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetGripperRotTorque, __pyx_k_RPC_GetGripperRotTorque, sizeof(__pyx_k_RPC_GetGripperRotTorque), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetInverseKin, __pyx_k_RPC_GetInverseKin, sizeof(__pyx_k_RPC_GetInverseKin), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetInverseKinHasSolution, __pyx_k_RPC_GetInverseKinHasSolution, sizeof(__pyx_k_RPC_GetInverseKinHasSolution), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetInverseKinRef, __pyx_k_RPC_GetInverseKinRef, sizeof(__pyx_k_RPC_GetInverseKinRef), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetJointDriverTemperature, __pyx_k_RPC_GetJointDriverTemperature, sizeof(__pyx_k_RPC_GetJointDriverTemperature), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetJointDriverTorque, __pyx_k_RPC_GetJointDriverTorque, sizeof(__pyx_k_RPC_GetJointDriverTorque), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetJointSoftLimitDeg, __pyx_k_RPC_GetJointSoftLimitDeg, sizeof(__pyx_k_RPC_GetJointSoftLimitDeg), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetJointTorques, __pyx_k_RPC_GetJointTorques, sizeof(__pyx_k_RPC_GetJointTorques), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetLoadedProgram, __pyx_k_RPC_GetLoadedProgram, sizeof(__pyx_k_RPC_GetLoadedProgram), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetLuaList, __pyx_k_RPC_GetLuaList, sizeof(__pyx_k_RPC_GetLuaList), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetMotionQueueLength, __pyx_k_RPC_GetMotionQueueLength, sizeof(__pyx_k_RPC_GetMotionQueueLength), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetProgramState, __pyx_k_RPC_GetProgramState, sizeof(__pyx_k_RPC_GetProgramState), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotCurJointsConfig, __pyx_k_RPC_GetRobotCurJointsConfig, sizeof(__pyx_k_RPC_GetRobotCurJointsConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotEmergencyStopState, __pyx_k_RPC_GetRobotEmergencyStopState, sizeof(__pyx_k_RPC_GetRobotEmergencyStopState), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotErrorCode, __pyx_k_RPC_GetRobotErrorCode, sizeof(__pyx_k_RPC_GetRobotErrorCode), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotInstallAngle, __pyx_k_RPC_GetRobotInstallAngle, sizeof(__pyx_k_RPC_GetRobotInstallAngle), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotMotionDone, __pyx_k_RPC_GetRobotMotionDone, sizeof(__pyx_k_RPC_GetRobotMotionDone), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotRealTimeState, __pyx_k_RPC_GetRobotRealTimeState, sizeof(__pyx_k_RPC_GetRobotRealTimeState), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotRealtimeStateSampleP, __pyx_k_RPC_GetRobotRealtimeStateSampleP, sizeof(__pyx_k_RPC_GetRobotRealtimeStateSampleP), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotSN, __pyx_k_RPC_GetRobotSN, sizeof(__pyx_k_RPC_GetRobotSN), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetRobotTeachingPoint, __pyx_k_RPC_GetRobotTeachingPoint, sizeof(__pyx_k_RPC_GetRobotTeachingPoint), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSDKComState, __pyx_k_RPC_GetSDKComState, sizeof(__pyx_k_RPC_GetSDKComState), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSDKVersion, __pyx_k_RPC_GetSDKVersion, sizeof(__pyx_k_RPC_GetSDKVersion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSSHKeygen, __pyx_k_RPC_GetSSHKeygen, sizeof(__pyx_k_RPC_GetSSHKeygen), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSafetyCode, __pyx_k_RPC_GetSafetyCode, sizeof(__pyx_k_RPC_GetSafetyCode), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSafetyStopState, __pyx_k_RPC_GetSafetyStopState, sizeof(__pyx_k_RPC_GetSafetyStopState), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSegmentWeldPoint, __pyx_k_RPC_GetSegmentWeldPoint, sizeof(__pyx_k_RPC_GetSegmentWeldPoint), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSlaveFirmVersion, __pyx_k_RPC_GetSlaveFirmVersion, sizeof(__pyx_k_RPC_GetSlaveFirmVersion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSlaveHardVersion, __pyx_k_RPC_GetSlaveHardVersion, sizeof(__pyx_k_RPC_GetSlaveHardVersion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSoftwareUpgradeState, __pyx_k_RPC_GetSoftwareUpgradeState, sizeof(__pyx_k_RPC_GetSoftwareUpgradeState), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSoftwareVersion, __pyx_k_RPC_GetSoftwareVersion, sizeof(__pyx_k_RPC_GetSoftwareVersion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSysVarValue, __pyx_k_RPC_GetSysVarValue, sizeof(__pyx_k_RPC_GetSysVarValue), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetSystemClock, __pyx_k_RPC_GetSystemClock, sizeof(__pyx_k_RPC_GetSystemClock), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetTCPOffset, __pyx_k_RPC_GetTCPOffset, sizeof(__pyx_k_RPC_GetTCPOffset), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetTPDStartPose, __pyx_k_RPC_GetTPDStartPose, sizeof(__pyx_k_RPC_GetTPDStartPose), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetTargetPayload, __pyx_k_RPC_GetTargetPayload, sizeof(__pyx_k_RPC_GetTargetPayload), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetTargetPayloadCog, __pyx_k_RPC_GetTargetPayloadCog, sizeof(__pyx_k_RPC_GetTargetPayloadCog), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetTargetTCPCompositeSpeed, __pyx_k_RPC_GetTargetTCPCompositeSpeed, sizeof(__pyx_k_RPC_GetTargetTCPCompositeSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetTargetTCPSpeed, __pyx_k_RPC_GetTargetTCPSpeed, sizeof(__pyx_k_RPC_GetTargetTCPSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetToolAI, __pyx_k_RPC_GetToolAI, sizeof(__pyx_k_RPC_GetToolAI), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetToolDI, __pyx_k_RPC_GetToolDI, sizeof(__pyx_k_RPC_GetToolDI), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetToolDO, __pyx_k_RPC_GetToolDO, sizeof(__pyx_k_RPC_GetToolDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetTrajectoryPointNum, __pyx_k_RPC_GetTrajectoryPointNum, sizeof(__pyx_k_RPC_GetTrajectoryPointNum), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetTrajectoryStartPose, __pyx_k_RPC_GetTrajectoryStartPose, sizeof(__pyx_k_RPC_GetTrajectoryStartPose), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetWObjOffset, __pyx_k_RPC_GetWObjOffset, sizeof(__pyx_k_RPC_GetWObjOffset), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_GetWireSearchOffset, __pyx_k_RPC_GetWireSearchOffset, sizeof(__pyx_k_RPC_GetWireSearchOffset), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ImmStopJOG, __pyx_k_RPC_ImmStopJOG, sizeof(__pyx_k_RPC_ImmStopJOG), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_IsInDragTeach, __pyx_k_RPC_IsInDragTeach, sizeof(__pyx_k_RPC_IsInDragTeach), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LaserSensorRecord, __pyx_k_RPC_LaserSensorRecord, sizeof(__pyx_k_RPC_LaserSensorRecord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LaserTrackingLaserOff, __pyx_k_RPC_LaserTrackingLaserOff, sizeof(__pyx_k_RPC_LaserTrackingLaserOff), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LaserTrackingLaserOn, __pyx_k_RPC_LaserTrackingLaserOn, sizeof(__pyx_k_RPC_LaserTrackingLaserOn), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LaserTrackingSearchStart, __pyx_k_RPC_LaserTrackingSearchStart, sizeof(__pyx_k_RPC_LaserTrackingSearchStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LaserTrackingSearchStop, __pyx_k_RPC_LaserTrackingSearchStop, sizeof(__pyx_k_RPC_LaserTrackingSearchStop), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LaserTrackingTrackOff, __pyx_k_RPC_LaserTrackingTrackOff, sizeof(__pyx_k_RPC_LaserTrackingTrackOff), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LaserTrackingTrackOn, __pyx_k_RPC_LaserTrackingTrackOn, sizeof(__pyx_k_RPC_LaserTrackingTrackOn), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LinArcFIRPlanningEnd, __pyx_k_RPC_LinArcFIRPlanningEnd, sizeof(__pyx_k_RPC_LinArcFIRPlanningEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LinArcFIRPlanningStart, __pyx_k_RPC_LinArcFIRPlanningStart, sizeof(__pyx_k_RPC_LinArcFIRPlanningStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadCtrlOpenLUA, __pyx_k_RPC_LoadCtrlOpenLUA, sizeof(__pyx_k_RPC_LoadCtrlOpenLUA), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadDefaultProgConfig, __pyx_k_RPC_LoadDefaultProgConfig, sizeof(__pyx_k_RPC_LoadDefaultProgConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadIdentifyDynFilterInit, __pyx_k_RPC_LoadIdentifyDynFilterInit, sizeof(__pyx_k_RPC_LoadIdentifyDynFilterInit), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadIdentifyDynVarInit, __pyx_k_RPC_LoadIdentifyDynVarInit, sizeof(__pyx_k_RPC_LoadIdentifyDynVarInit), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadIdentifyGetResult, __pyx_k_RPC_LoadIdentifyGetResult, sizeof(__pyx_k_RPC_LoadIdentifyGetResult), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadIdentifyMain, __pyx_k_RPC_LoadIdentifyMain, sizeof(__pyx_k_RPC_LoadIdentifyMain), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadTPD, __pyx_k_RPC_LoadTPD, sizeof(__pyx_k_RPC_LoadTPD), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadTrajectoryJ, __pyx_k_RPC_LoadTrajectoryJ, sizeof(__pyx_k_RPC_LoadTrajectoryJ), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoadTrajectoryLA, __pyx_k_RPC_LoadTrajectoryLA, sizeof(__pyx_k_RPC_LoadTrajectoryLA), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LoggerInit, __pyx_k_RPC_LoggerInit, sizeof(__pyx_k_RPC_LoggerInit), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LuaDelete, __pyx_k_RPC_LuaDelete, sizeof(__pyx_k_RPC_LuaDelete), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LuaDownLoad, __pyx_k_RPC_LuaDownLoad, sizeof(__pyx_k_RPC_LuaDownLoad), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_LuaUpload, __pyx_k_RPC_LuaUpload, sizeof(__pyx_k_RPC_LuaUpload), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_Mode, __pyx_k_RPC_Mode, sizeof(__pyx_k_RPC_Mode), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveAOStart, __pyx_k_RPC_MoveAOStart, sizeof(__pyx_k_RPC_MoveAOStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveAOStop, __pyx_k_RPC_MoveAOStop, sizeof(__pyx_k_RPC_MoveAOStop), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveC, __pyx_k_RPC_MoveC, sizeof(__pyx_k_RPC_MoveC), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveCart, __pyx_k_RPC_MoveCart, sizeof(__pyx_k_RPC_MoveCart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveGripper, __pyx_k_RPC_MoveGripper, sizeof(__pyx_k_RPC_MoveGripper), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveJ, __pyx_k_RPC_MoveJ, sizeof(__pyx_k_RPC_MoveJ), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveL, __pyx_k_RPC_MoveL, sizeof(__pyx_k_RPC_MoveL), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveTPD, __pyx_k_RPC_MoveTPD, sizeof(__pyx_k_RPC_MoveTPD), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveToolAOStart, __pyx_k_RPC_MoveToolAOStart, sizeof(__pyx_k_RPC_MoveToolAOStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveToolAOStop, __pyx_k_RPC_MoveToolAOStop, sizeof(__pyx_k_RPC_MoveToolAOStop), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveTrajectoryJ, __pyx_k_RPC_MoveTrajectoryJ, sizeof(__pyx_k_RPC_MoveTrajectoryJ), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MoveTrajectoryLA, __pyx_k_RPC_MoveTrajectoryLA, sizeof(__pyx_k_RPC_MoveTrajectoryLA), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_MultilayerOffsetTrsfToBase, __pyx_k_RPC_MultilayerOffsetTrsfToBase, sizeof(__pyx_k_RPC_MultilayerOffsetTrsfToBase), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_NewSpiral, __pyx_k_RPC_NewSpiral, sizeof(__pyx_k_RPC_NewSpiral), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_NewSplineEnd, __pyx_k_RPC_NewSplineEnd, sizeof(__pyx_k_RPC_NewSplineEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_NewSplinePoint, __pyx_k_RPC_NewSplinePoint, sizeof(__pyx_k_RPC_NewSplinePoint), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_NewSplineStart, __pyx_k_RPC_NewSplineStart, sizeof(__pyx_k_RPC_NewSplineStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PauseMotion, __pyx_k_RPC_PauseMotion, sizeof(__pyx_k_RPC_PauseMotion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PointTableDownLoad, __pyx_k_RPC_PointTableDownLoad, sizeof(__pyx_k_RPC_PointTableDownLoad), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PointTableSwitch, __pyx_k_RPC_PointTableSwitch, sizeof(__pyx_k_RPC_PointTableSwitch), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PointTableUpLoad, __pyx_k_RPC_PointTableUpLoad, sizeof(__pyx_k_RPC_PointTableUpLoad), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PointTableUpdateLua, __pyx_k_RPC_PointTableUpdateLua, sizeof(__pyx_k_RPC_PointTableUpdateLua), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PointsOffsetDisable, __pyx_k_RPC_PointsOffsetDisable, sizeof(__pyx_k_RPC_PointsOffsetDisable), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PointsOffsetEnable, __pyx_k_RPC_PointsOffsetEnable, sizeof(__pyx_k_RPC_PointsOffsetEnable), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PositionorComputeECoordSys, __pyx_k_RPC_PositionorComputeECoordSys, sizeof(__pyx_k_RPC_PositionorComputeECoordSys), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PositionorSetRefPoint, __pyx_k_RPC_PositionorSetRefPoint, sizeof(__pyx_k_RPC_PositionorSetRefPoint), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ProgramLoad, __pyx_k_RPC_ProgramLoad, sizeof(__pyx_k_RPC_ProgramLoad), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ProgramPause, __pyx_k_RPC_ProgramPause, sizeof(__pyx_k_RPC_ProgramPause), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ProgramResume, __pyx_k_RPC_ProgramResume, sizeof(__pyx_k_RPC_ProgramResume), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ProgramRun, __pyx_k_RPC_ProgramRun, sizeof(__pyx_k_RPC_ProgramRun), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ProgramStop, __pyx_k_RPC_ProgramStop, sizeof(__pyx_k_RPC_ProgramStop), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PtpFIRPlanningEnd, __pyx_k_RPC_PtpFIRPlanningEnd, sizeof(__pyx_k_RPC_PtpFIRPlanningEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_PtpFIRPlanningStart, __pyx_k_RPC_PtpFIRPlanningStart, sizeof(__pyx_k_RPC_PtpFIRPlanningStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_RbLogDownload, __pyx_k_RPC_RbLogDownload, sizeof(__pyx_k_RPC_RbLogDownload), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ResetAllError, __pyx_k_RPC_ResetAllError, sizeof(__pyx_k_RPC_ResetAllError), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ResumeMotion, __pyx_k_RPC_ResumeMotion, sizeof(__pyx_k_RPC_ResumeMotion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_RobotEnable, __pyx_k_RPC_RobotEnable, sizeof(__pyx_k_RPC_RobotEnable), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SegmentWeldEnd, __pyx_k_RPC_SegmentWeldEnd, sizeof(__pyx_k_RPC_SegmentWeldEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SegmentWeldStart, __pyx_k_RPC_SegmentWeldStart, sizeof(__pyx_k_RPC_SegmentWeldStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ServoCart, __pyx_k_RPC_ServoCart, sizeof(__pyx_k_RPC_ServoCart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ServoJ, __pyx_k_RPC_ServoJ, sizeof(__pyx_k_RPC_ServoJ), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ServoJT, __pyx_k_RPC_ServoJT, sizeof(__pyx_k_RPC_ServoJT), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ServoJTEnd, __pyx_k_RPC_ServoJTEnd, sizeof(__pyx_k_RPC_ServoJTEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ServoJTStart, __pyx_k_RPC_ServoJTStart, sizeof(__pyx_k_RPC_ServoJTStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ServoMoveEnd, __pyx_k_RPC_ServoMoveEnd, sizeof(__pyx_k_RPC_ServoMoveEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_ServoMoveStart, __pyx_k_RPC_ServoMoveStart, sizeof(__pyx_k_RPC_ServoMoveStart), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAO, __pyx_k_RPC_SetAO, sizeof(__pyx_k_RPC_SetAO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAirControlExtDoNum, __pyx_k_RPC_SetAirControlExtDoNum, sizeof(__pyx_k_RPC_SetAirControlExtDoNum), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAnticollision, __pyx_k_RPC_SetAnticollision, sizeof(__pyx_k_RPC_SetAnticollision), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetArcDoneExtDiNum, __pyx_k_RPC_SetArcDoneExtDiNum, sizeof(__pyx_k_RPC_SetArcDoneExtDiNum), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetArcStartExtDoNum, __pyx_k_RPC_SetArcStartExtDoNum, sizeof(__pyx_k_RPC_SetArcStartExtDoNum), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAspirated, __pyx_k_RPC_SetAspirated, sizeof(__pyx_k_RPC_SetAspirated), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAuxAIFilterTime, __pyx_k_RPC_SetAuxAIFilterTime, sizeof(__pyx_k_RPC_SetAuxAIFilterTime), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAuxAO, __pyx_k_RPC_SetAuxAO, sizeof(__pyx_k_RPC_SetAuxAO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAuxDIFilterTime, __pyx_k_RPC_SetAuxDIFilterTime, sizeof(__pyx_k_RPC_SetAuxDIFilterTime), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAuxDO, __pyx_k_RPC_SetAuxDO, sizeof(__pyx_k_RPC_SetAuxDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAxisDHParaConfig, __pyx_k_RPC_SetAxisDHParaConfig, sizeof(__pyx_k_RPC_SetAxisDHParaConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAxleCommunicationParam, __pyx_k_RPC_SetAxleCommunicationParam, sizeof(__pyx_k_RPC_SetAxleCommunicationParam), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAxleFileType, __pyx_k_RPC_SetAxleFileType, sizeof(__pyx_k_RPC_SetAxleFileType), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAxleLuaEnable, __pyx_k_RPC_SetAxleLuaEnable, sizeof(__pyx_k_RPC_SetAxleLuaEnable), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAxleLuaEnableDeviceType, __pyx_k_RPC_SetAxleLuaEnableDeviceType, sizeof(__pyx_k_RPC_SetAxleLuaEnableDeviceType), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetAxleLuaGripperFunc, __pyx_k_RPC_SetAxleLuaGripperFunc, sizeof(__pyx_k_RPC_SetAxleLuaGripperFunc), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetCollisionDetectionMethod, __pyx_k_RPC_SetCollisionDetectionMethod, sizeof(__pyx_k_RPC_SetCollisionDetectionMethod), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetCollisionStrategy, __pyx_k_RPC_SetCollisionStrategy, sizeof(__pyx_k_RPC_SetCollisionStrategy), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetCtrlOpenLUAName, __pyx_k_RPC_SetCtrlOpenLUAName, sizeof(__pyx_k_RPC_SetCtrlOpenLUAName), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetCtrlOpenLuaErrCode, __pyx_k_RPC_SetCtrlOpenLuaErrCode, sizeof(__pyx_k_RPC_SetCtrlOpenLuaErrCode), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetDO, __pyx_k_RPC_SetDO, sizeof(__pyx_k_RPC_SetDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetExDevProtocol, __pyx_k_RPC_SetExDevProtocol, sizeof(__pyx_k_RPC_SetExDevProtocol), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetExTCPPoint, __pyx_k_RPC_SetExTCPPoint, sizeof(__pyx_k_RPC_SetExTCPPoint), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetExToolCoord, __pyx_k_RPC_SetExToolCoord, sizeof(__pyx_k_RPC_SetExToolCoord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetExToolList, __pyx_k_RPC_SetExToolList, sizeof(__pyx_k_RPC_SetExToolList), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetExtDIWeldBreakOffRecover, __pyx_k_RPC_SetExtDIWeldBreakOffRecover, sizeof(__pyx_k_RPC_SetExtDIWeldBreakOffRecover), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetForceSensorDragAutoFlag, __pyx_k_RPC_SetForceSensorDragAutoFlag, sizeof(__pyx_k_RPC_SetForceSensorDragAutoFlag), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetForceSensorPayload, __pyx_k_RPC_SetForceSensorPayload, sizeof(__pyx_k_RPC_SetForceSensorPayload), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetForceSensorPayloadCog, __pyx_k_RPC_SetForceSensorPayloadCog, sizeof(__pyx_k_RPC_SetForceSensorPayloadCog), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetForwardWireFeed, __pyx_k_RPC_SetForwardWireFeed, sizeof(__pyx_k_RPC_SetForwardWireFeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetFrictionValue_ceiling, __pyx_k_RPC_SetFrictionValue_ceiling, sizeof(__pyx_k_RPC_SetFrictionValue_ceiling), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetFrictionValue_freedom, __pyx_k_RPC_SetFrictionValue_freedom, sizeof(__pyx_k_RPC_SetFrictionValue_freedom), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetFrictionValue_level, __pyx_k_RPC_SetFrictionValue_level, sizeof(__pyx_k_RPC_SetFrictionValue_level), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetFrictionValue_wall, __pyx_k_RPC_SetFrictionValue_wall, sizeof(__pyx_k_RPC_SetFrictionValue_wall), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetGripperConfig, __pyx_k_RPC_SetGripperConfig, sizeof(__pyx_k_RPC_SetGripperConfig), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetLimitNegative, __pyx_k_RPC_SetLimitNegative, sizeof(__pyx_k_RPC_SetLimitNegative), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetLimitPositive, __pyx_k_RPC_SetLimitPositive, sizeof(__pyx_k_RPC_SetLimitPositive), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetLoadCoord, __pyx_k_RPC_SetLoadCoord, sizeof(__pyx_k_RPC_SetLoadCoord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetLoadWeight, __pyx_k_RPC_SetLoadWeight, sizeof(__pyx_k_RPC_SetLoadWeight), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetLoggerLevel, __pyx_k_RPC_SetLoggerLevel, sizeof(__pyx_k_RPC_SetLoggerLevel), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetOaccScale, __pyx_k_RPC_SetOaccScale, sizeof(__pyx_k_RPC_SetOaccScale), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetOutputResetAxleAO, __pyx_k_RPC_SetOutputResetAxleAO, sizeof(__pyx_k_RPC_SetOutputResetAxleAO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetOutputResetAxleDO, __pyx_k_RPC_SetOutputResetAxleDO, sizeof(__pyx_k_RPC_SetOutputResetAxleDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetOutputResetCtlBoxAO, __pyx_k_RPC_SetOutputResetCtlBoxAO, sizeof(__pyx_k_RPC_SetOutputResetCtlBoxAO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetOutputResetCtlBoxDO, __pyx_k_RPC_SetOutputResetCtlBoxDO, sizeof(__pyx_k_RPC_SetOutputResetCtlBoxDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetOutputResetExtAO, __pyx_k_RPC_SetOutputResetExtAO, sizeof(__pyx_k_RPC_SetOutputResetExtAO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetOutputResetExtDO, __pyx_k_RPC_SetOutputResetExtDO, sizeof(__pyx_k_RPC_SetOutputResetExtDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetOutputResetSmartToolDO, __pyx_k_RPC_SetOutputResetSmartToolDO, sizeof(__pyx_k_RPC_SetOutputResetSmartToolDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetPointToDatabase, __pyx_k_RPC_SetPointToDatabase, sizeof(__pyx_k_RPC_SetPointToDatabase), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetPowerLimit, __pyx_k_RPC_SetPowerLimit, sizeof(__pyx_k_RPC_SetPowerLimit), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetRecoverAxleLuaErr, __pyx_k_RPC_SetRecoverAxleLuaErr, sizeof(__pyx_k_RPC_SetRecoverAxleLuaErr), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetRefPointInExAxisEnd, __pyx_k_RPC_SetRefPointInExAxisEnd, sizeof(__pyx_k_RPC_SetRefPointInExAxisEnd), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetReverseWireFeed, __pyx_k_RPC_SetReverseWireFeed, sizeof(__pyx_k_RPC_SetReverseWireFeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetRobotInstallAngle, __pyx_k_RPC_SetRobotInstallAngle, sizeof(__pyx_k_RPC_SetRobotInstallAngle), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetRobotInstallPos, __pyx_k_RPC_SetRobotInstallPos, sizeof(__pyx_k_RPC_SetRobotInstallPos), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetRobotPosToAxis, __pyx_k_RPC_SetRobotPosToAxis, sizeof(__pyx_k_RPC_SetRobotPosToAxis), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_SetSpeed, __pyx_k_RPC_SetSpeed, sizeof(__pyx_k_RPC_SetSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetStaticCollisionOnOff, __pyx_k_RPC_SetStaticCollisionOnOff, sizeof(__pyx_k_RPC_SetStaticCollisionOnOff), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetSysServoBootMode, __pyx_k_RPC_SetSysServoBootMode, sizeof(__pyx_k_RPC_SetSysServoBootMode), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetSysVarValue, __pyx_k_RPC_SetSysVarValue, sizeof(__pyx_k_RPC_SetSysVarValue), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetTPDDelete, __pyx_k_RPC_SetTPDDelete, sizeof(__pyx_k_RPC_SetTPDDelete), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_SetTcp4RefPoint, __pyx_k_RPC_SetTcp4RefPoint, sizeof(__pyx_k_RPC_SetTcp4RefPoint), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetToolAO, __pyx_k_RPC_SetToolAO, sizeof(__pyx_k_RPC_SetToolAO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetToolCoord, __pyx_k_RPC_SetToolCoord, sizeof(__pyx_k_RPC_SetToolCoord), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetToolDO, __pyx_k_RPC_SetToolDO, sizeof(__pyx_k_RPC_SetToolDO), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetToolList, __pyx_k_RPC_SetToolList, sizeof(__pyx_k_RPC_SetToolList), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetToolPoint, __pyx_k_RPC_SetToolPoint, sizeof(__pyx_k_RPC_SetToolPoint), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_SetTrajectoryJTorqueTx, __pyx_k_RPC_SetTrajectoryJTorqueTx, sizeof(__pyx_k_RPC_SetTrajectoryJTorqueTx), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_SetWObjList, __pyx_k_RPC_SetWObjList, sizeof(__pyx_k_RPC_SetWObjList), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_SetWebTPDStop, __pyx_k_RPC_SetWebTPDStop, sizeof(__pyx_k_RPC_SetWebTPDStop), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_SetWireForwardFeedExtDoNum, __pyx_k_RPC_SetWireForwardFeedExtDoNum, sizeof(__pyx_k_RPC_SetWireForwardFeedExtDoNum), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_StopMotion, __pyx_k_RPC_StopMotion, sizeof(__pyx_k_RPC_StopMotion), 0, 0, 1, 1},
    {&__pyx_n_s_RPC_StopMove, __pyx_k_RPC_StopMove, sizeof(__pyx_k_RPC_StopMove), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_TractorHoming, __pyx_k_RPC_TractorHoming, sizeof(__pyx_k_RPC_TractorHoming), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_WeldingGetCurrentRelation, __pyx_k_RPC_WeldingGetCurrentRelation, sizeof(__pyx_k_RPC_WeldingGetCurrentRelation), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC_WeldingSetVoltage, __pyx_k_RPC_WeldingSetVoltage, sizeof(__pyx_k_RPC_WeldingSetVoltage), 0, 0, 1, 1},
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    {&__pyx_n_s_RPC__FileDelete, __pyx_k_RPC__FileDelete, sizeof(__pyx_k_RPC__FileDelete), 0, 0, 1, 1},
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    {&__pyx_n_s_RbLogDownloadPrepare, __pyx_k_RbLogDownloadPrepare, sizeof(__pyx_k_RbLogDownloadPrepare), 0, 0, 1, 1},
    {&__pyx_n_s_ResetAllError, __pyx_k_ResetAllError, sizeof(__pyx_k_ResetAllError), 0, 0, 1, 1},
    {&__pyx_n_s_ResumeMotion, __pyx_k_ResumeMotion, sizeof(__pyx_k_ResumeMotion), 0, 0, 1, 1},
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    {&__pyx_n_s_ServoCart, __pyx_k_ServoCart, sizeof(__pyx_k_ServoCart), 0, 0, 1, 1},
    {&__pyx_n_s_ServoJ, __pyx_k_ServoJ, sizeof(__pyx_k_ServoJ), 0, 0, 1, 1},
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    {&__pyx_n_s_ServoMoveEnd, __pyx_k_ServoMoveEnd, sizeof(__pyx_k_ServoMoveEnd), 0, 0, 1, 1},
    {&__pyx_n_s_ServoMoveStart, __pyx_k_ServoMoveStart, sizeof(__pyx_k_ServoMoveStart), 0, 0, 1, 1},
    {&__pyx_n_s_SetAO, __pyx_k_SetAO, sizeof(__pyx_k_SetAO), 0, 0, 1, 1},
    {&__pyx_n_s_SetAirControlExtDoNum, __pyx_k_SetAirControlExtDoNum, sizeof(__pyx_k_SetAirControlExtDoNum), 0, 0, 1, 1},
    {&__pyx_n_s_SetAnticollision, __pyx_k_SetAnticollision, sizeof(__pyx_k_SetAnticollision), 0, 0, 1, 1},
    {&__pyx_n_s_SetArcDoneExtDiNum, __pyx_k_SetArcDoneExtDiNum, sizeof(__pyx_k_SetArcDoneExtDiNum), 0, 0, 1, 1},
    {&__pyx_n_s_SetArcStartExtDoNum, __pyx_k_SetArcStartExtDoNum, sizeof(__pyx_k_SetArcStartExtDoNum), 0, 0, 1, 1},
    {&__pyx_n_s_SetAspirated, __pyx_k_SetAspirated, sizeof(__pyx_k_SetAspirated), 0, 0, 1, 1},
    {&__pyx_n_s_SetAuxAIFilterTime, __pyx_k_SetAuxAIFilterTime, sizeof(__pyx_k_SetAuxAIFilterTime), 0, 0, 1, 1},
    {&__pyx_n_s_SetAuxAO, __pyx_k_SetAuxAO, sizeof(__pyx_k_SetAuxAO), 0, 0, 1, 1},
    {&__pyx_n_s_SetAuxDIFilterTime, __pyx_k_SetAuxDIFilterTime, sizeof(__pyx_k_SetAuxDIFilterTime), 0, 0, 1, 1},
    {&__pyx_n_s_SetAuxDO, __pyx_k_SetAuxDO, sizeof(__pyx_k_SetAuxDO), 0, 0, 1, 1},
    {&__pyx_n_s_SetAxisDHParaConfig, __pyx_k_SetAxisDHParaConfig, sizeof(__pyx_k_SetAxisDHParaConfig), 0, 0, 1, 1},
    {&__pyx_n_s_SetAxleCommunicationParam, __pyx_k_SetAxleCommunicationParam, sizeof(__pyx_k_SetAxleCommunicationParam), 0, 0, 1, 1},
    {&__pyx_n_s_SetAxleFileType, __pyx_k_SetAxleFileType, sizeof(__pyx_k_SetAxleFileType), 0, 0, 1, 1},
    {&__pyx_n_s_SetAxleLuaEnable, __pyx_k_SetAxleLuaEnable, sizeof(__pyx_k_SetAxleLuaEnable), 0, 0, 1, 1},
    {&__pyx_n_s_SetAxleLuaEnableDeviceType, __pyx_k_SetAxleLuaEnableDeviceType, sizeof(__pyx_k_SetAxleLuaEnableDeviceType), 0, 0, 1, 1},
    {&__pyx_n_s_SetAxleLuaGripperFunc, __pyx_k_SetAxleLuaGripperFunc, sizeof(__pyx_k_SetAxleLuaGripperFunc), 0, 0, 1, 1},
    {&__pyx_n_s_SetCollisionDetectionMethod, __pyx_k_SetCollisionDetectionMethod, sizeof(__pyx_k_SetCollisionDetectionMethod), 0, 0, 1, 1},
    {&__pyx_n_s_SetCollisionStrategy, __pyx_k_SetCollisionStrategy, sizeof(__pyx_k_SetCollisionStrategy), 0, 0, 1, 1},
    {&__pyx_n_s_SetCtrlOpenLUAName, __pyx_k_SetCtrlOpenLUAName, sizeof(__pyx_k_SetCtrlOpenLUAName), 0, 0, 1, 1},
    {&__pyx_n_s_SetCtrlOpenLuaErrCode, __pyx_k_SetCtrlOpenLuaErrCode, sizeof(__pyx_k_SetCtrlOpenLuaErrCode), 0, 0, 1, 1},
    {&__pyx_n_s_SetDO, __pyx_k_SetDO, sizeof(__pyx_k_SetDO), 0, 0, 1, 1},
    {&__pyx_n_s_SetExDevProtocol, __pyx_k_SetExDevProtocol, sizeof(__pyx_k_SetExDevProtocol), 0, 0, 1, 1},
    {&__pyx_n_s_SetExTCPPoint, __pyx_k_SetExTCPPoint, sizeof(__pyx_k_SetExTCPPoint), 0, 0, 1, 1},
    {&__pyx_n_s_SetExToolCoord, __pyx_k_SetExToolCoord, sizeof(__pyx_k_SetExToolCoord), 0, 0, 1, 1},
    {&__pyx_n_s_SetExToolList, __pyx_k_SetExToolList, sizeof(__pyx_k_SetExToolList), 0, 0, 1, 1},
    {&__pyx_n_s_SetExtDIWeldBreakOffRecover, __pyx_k_SetExtDIWeldBreakOffRecover, sizeof(__pyx_k_SetExtDIWeldBreakOffRecover), 0, 0, 1, 1},
    {&__pyx_n_s_SetForceSensorDragAutoFlag, __pyx_k_SetForceSensorDragAutoFlag, sizeof(__pyx_k_SetForceSensorDragAutoFlag), 0, 0, 1, 1},
    {&__pyx_n_s_SetForceSensorPayload, __pyx_k_SetForceSensorPayload, sizeof(__pyx_k_SetForceSensorPayload), 0, 0, 1, 1},
    {&__pyx_n_s_SetForceSensorPayloadCog, __pyx_k_SetForceSensorPayloadCog, sizeof(__pyx_k_SetForceSensorPayloadCog), 0, 0, 1, 1},
    {&__pyx_n_s_SetForwardWireFeed, __pyx_k_SetForwardWireFeed, sizeof(__pyx_k_SetForwardWireFeed), 0, 0, 1, 1},
    {&__pyx_n_s_SetFrictionValue_ceiling, __pyx_k_SetFrictionValue_ceiling, sizeof(__pyx_k_SetFrictionValue_ceiling), 0, 0, 1, 1},
    {&__pyx_n_s_SetFrictionValue_freedom, __pyx_k_SetFrictionValue_freedom, sizeof(__pyx_k_SetFrictionValue_freedom), 0, 0, 1, 1},
    {&__pyx_n_s_SetFrictionValue_level, __pyx_k_SetFrictionValue_level, sizeof(__pyx_k_SetFrictionValue_level), 0, 0, 1, 1},
    {&__pyx_n_s_SetFrictionValue_wall, __pyx_k_SetFrictionValue_wall, sizeof(__pyx_k_SetFrictionValue_wall), 0, 0, 1, 1},
    {&__pyx_n_s_SetGripperConfig, __pyx_k_SetGripperConfig, sizeof(__pyx_k_SetGripperConfig), 0, 0, 1, 1},
    {&__pyx_n_s_SetLimitNegative, __pyx_k_SetLimitNegative, sizeof(__pyx_k_SetLimitNegative), 0, 0, 1, 1},
    {&__pyx_n_s_SetLimitPositive, __pyx_k_SetLimitPositive, sizeof(__pyx_k_SetLimitPositive), 0, 0, 1, 1},
    {&__pyx_n_s_SetLoadCoord, __pyx_k_SetLoadCoord, sizeof(__pyx_k_SetLoadCoord), 0, 0, 1, 1},
    {&__pyx_n_s_SetLoadWeight, __pyx_k_SetLoadWeight, sizeof(__pyx_k_SetLoadWeight), 0, 0, 1, 1},
    {&__pyx_n_s_SetLoggerLevel, __pyx_k_SetLoggerLevel, sizeof(__pyx_k_SetLoggerLevel), 0, 0, 1, 1},
    {&__pyx_n_s_SetOaccScale, __pyx_k_SetOaccScale, sizeof(__pyx_k_SetOaccScale), 0, 0, 1, 1},
    {&__pyx_n_s_SetOutputResetAxleAO, __pyx_k_SetOutputResetAxleAO, sizeof(__pyx_k_SetOutputResetAxleAO), 0, 0, 1, 1},
    {&__pyx_n_s_SetOutputResetAxleDO, __pyx_k_SetOutputResetAxleDO, sizeof(__pyx_k_SetOutputResetAxleDO), 0, 0, 1, 1},
    {&__pyx_n_s_SetOutputResetCtlBoxAO, __pyx_k_SetOutputResetCtlBoxAO, sizeof(__pyx_k_SetOutputResetCtlBoxAO), 0, 0, 1, 1},
    {&__pyx_n_s_SetOutputResetCtlBoxDO, __pyx_k_SetOutputResetCtlBoxDO, sizeof(__pyx_k_SetOutputResetCtlBoxDO), 0, 0, 1, 1},
    {&__pyx_n_s_SetOutputResetExtAO, __pyx_k_SetOutputResetExtAO, sizeof(__pyx_k_SetOutputResetExtAO), 0, 0, 1, 1},
    {&__pyx_n_s_SetOutputResetExtDO, __pyx_k_SetOutputResetExtDO, sizeof(__pyx_k_SetOutputResetExtDO), 0, 0, 1, 1},
    {&__pyx_n_s_SetOutputResetSmartToolDO, __pyx_k_SetOutputResetSmartToolDO, sizeof(__pyx_k_SetOutputResetSmartToolDO), 0, 0, 1, 1},
    {&__pyx_n_s_SetPointToDatabase, __pyx_k_SetPointToDatabase, sizeof(__pyx_k_SetPointToDatabase), 0, 0, 1, 1},
    {&__pyx_n_s_SetPowerLimit, __pyx_k_SetPowerLimit, sizeof(__pyx_k_SetPowerLimit), 0, 0, 1, 1},
    {&__pyx_n_s_SetRecoverAxleLuaErr, __pyx_k_SetRecoverAxleLuaErr, sizeof(__pyx_k_SetRecoverAxleLuaErr), 0, 0, 1, 1},
    {&__pyx_n_s_SetRefPointInExAxisEnd, __pyx_k_SetRefPointInExAxisEnd, sizeof(__pyx_k_SetRefPointInExAxisEnd), 0, 0, 1, 1},
    {&__pyx_n_s_SetReverseWireFeed, __pyx_k_SetReverseWireFeed, sizeof(__pyx_k_SetReverseWireFeed), 0, 0, 1, 1},
    {&__pyx_n_s_SetRobotInstallAngle, __pyx_k_SetRobotInstallAngle, sizeof(__pyx_k_SetRobotInstallAngle), 0, 0, 1, 1},
    {&__pyx_n_s_SetRobotInstallPos, __pyx_k_SetRobotInstallPos, sizeof(__pyx_k_SetRobotInstallPos), 0, 0, 1, 1},
    {&__pyx_n_s_SetRobotPosToAxis, __pyx_k_SetRobotPosToAxis, sizeof(__pyx_k_SetRobotPosToAxis), 0, 0, 1, 1},
    {&__pyx_n_s_SetRobotRealtimeStateSamplePerio, __pyx_k_SetRobotRealtimeStateSamplePerio, sizeof(__pyx_k_SetRobotRealtimeStateSamplePerio), 0, 0, 1, 1},
    {&__pyx_n_s_SetSSHScpCmd, __pyx_k_SetSSHScpCmd, sizeof(__pyx_k_SetSSHScpCmd), 0, 0, 1, 1},
    {&__pyx_n_s_SetSpeed, __pyx_k_SetSpeed, sizeof(__pyx_k_SetSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_SetStaticCollisionOnOff, __pyx_k_SetStaticCollisionOnOff, sizeof(__pyx_k_SetStaticCollisionOnOff), 0, 0, 1, 1},
    {&__pyx_n_s_SetSysServoBootMode, __pyx_k_SetSysServoBootMode, sizeof(__pyx_k_SetSysServoBootMode), 0, 0, 1, 1},
    {&__pyx_n_s_SetSysVarValue, __pyx_k_SetSysVarValue, sizeof(__pyx_k_SetSysVarValue), 0, 0, 1, 1},
    {&__pyx_n_s_SetTPDDelete, __pyx_k_SetTPDDelete, sizeof(__pyx_k_SetTPDDelete), 0, 0, 1, 1},
    {&__pyx_n_s_SetTPDParam, __pyx_k_SetTPDParam, sizeof(__pyx_k_SetTPDParam), 0, 0, 1, 1},
    {&__pyx_n_s_SetTPDStart, __pyx_k_SetTPDStart, sizeof(__pyx_k_SetTPDStart), 0, 0, 1, 1},
    {&__pyx_n_s_SetTcp4RefPoint, __pyx_k_SetTcp4RefPoint, sizeof(__pyx_k_SetTcp4RefPoint), 0, 0, 1, 1},
    {&__pyx_n_s_SetToolAO, __pyx_k_SetToolAO, sizeof(__pyx_k_SetToolAO), 0, 0, 1, 1},
    {&__pyx_n_s_SetToolCoord, __pyx_k_SetToolCoord, sizeof(__pyx_k_SetToolCoord), 0, 0, 1, 1},
    {&__pyx_n_s_SetToolDO, __pyx_k_SetToolDO, sizeof(__pyx_k_SetToolDO), 0, 0, 1, 1},
    {&__pyx_n_s_SetToolList, __pyx_k_SetToolList, sizeof(__pyx_k_SetToolList), 0, 0, 1, 1},
    {&__pyx_n_s_SetToolPoint, __pyx_k_SetToolPoint, sizeof(__pyx_k_SetToolPoint), 0, 0, 1, 1},
    {&__pyx_n_s_SetTrajectoryJForceFx, __pyx_k_SetTrajectoryJForceFx, sizeof(__pyx_k_SetTrajectoryJForceFx), 0, 0, 1, 1},
    {&__pyx_n_s_SetTrajectoryJForceFy, __pyx_k_SetTrajectoryJForceFy, sizeof(__pyx_k_SetTrajectoryJForceFy), 0, 0, 1, 1},
    {&__pyx_n_s_SetTrajectoryJForceFz, __pyx_k_SetTrajectoryJForceFz, sizeof(__pyx_k_SetTrajectoryJForceFz), 0, 0, 1, 1},
    {&__pyx_n_s_SetTrajectoryJForceTorque, __pyx_k_SetTrajectoryJForceTorque, sizeof(__pyx_k_SetTrajectoryJForceTorque), 0, 0, 1, 1},
    {&__pyx_n_s_SetTrajectoryJSpeed, __pyx_k_SetTrajectoryJSpeed, sizeof(__pyx_k_SetTrajectoryJSpeed), 0, 0, 1, 1},
    {&__pyx_n_s_SetTrajectoryJTorqueTx, __pyx_k_SetTrajectoryJTorqueTx, sizeof(__pyx_k_SetTrajectoryJTorqueTx), 0, 0, 1, 1},
    {&__pyx_n_s_SetTrajectoryJTorqueTy, __pyx_k_SetTrajectoryJTorqueTy, sizeof(__pyx_k_SetTrajectoryJTorqueTy), 0, 0, 1, 1},
    {&__pyx_n_s_SetTrajectoryJTorqueTz, __pyx_k_SetTrajectoryJTorqueTz, sizeof(__pyx_k_SetTrajectoryJTorqueTz), 0, 0, 1, 1},
    {&__pyx_n_s_SetWObjCoord, __pyx_k_SetWObjCoord, sizeof(__pyx_k_SetWObjCoord), 0, 0, 1, 1},
    {&__pyx_n_s_SetWObjCoordPoint, __pyx_k_SetWObjCoordPoint, sizeof(__pyx_k_SetWObjCoordPoint), 0, 0, 1, 1},
    {&__pyx_n_s_SetWObjList, __pyx_k_SetWObjList, sizeof(__pyx_k_SetWObjList), 0, 0, 1, 1},
    {&__pyx_n_s_SetWebTPDStop, __pyx_k_SetWebTPDStop, sizeof(__pyx_k_SetWebTPDStop), 0, 0, 1, 1},
    {&__pyx_n_s_SetWeldMachineCtrlMode, __pyx_k_SetWeldMachineCtrlMode, sizeof(__pyx_k_SetWeldMachineCtrlMode), 0, 0, 1, 1},
    {&__pyx_n_s_SetWeldMachineCtrlModeExtDoNum, __pyx_k_SetWeldMachineCtrlModeExtDoNum, sizeof(__pyx_k_SetWeldMachineCtrlModeExtDoNum), 0, 0, 1, 1},
    {&__pyx_n_s_SetWeldReadyExtDiNum, __pyx_k_SetWeldReadyExtDiNum, sizeof(__pyx_k_SetWeldReadyExtDiNum), 0, 0, 1, 1},
    {&__pyx_n_s_SetWireForwardFeedExtDoNum, __pyx_k_SetWireForwardFeedExtDoNum, sizeof(__pyx_k_SetWireForwardFeedExtDoNum), 0, 0, 1, 1},
    {&__pyx_n_s_SetWireReverseFeedExtDoNum, __pyx_k_SetWireReverseFeedExtDoNum, sizeof(__pyx_k_SetWireReverseFeedExtDoNum), 0, 0, 1, 1},
    {&__pyx_n_s_SetWireSearchExtDIONum, __pyx_k_SetWireSearchExtDIONum, sizeof(__pyx_k_SetWireSearchExtDIONum), 0, 0, 1, 1},
    {&__pyx_n_s_ShutDownRobotOS, __pyx_k_ShutDownRobotOS, sizeof(__pyx_k_ShutDownRobotOS), 0, 0, 1, 1},
    {&__pyx_n_s_SingularAvoidEnd, __pyx_k_SingularAvoidEnd, sizeof(__pyx_k_SingularAvoidEnd), 0, 0, 1, 1},
    {&__pyx_n_s_SingularAvoidStart, __pyx_k_SingularAvoidStart, sizeof(__pyx_k_SingularAvoidStart), 0, 0, 1, 1},
    {&__pyx_n_s_SlaveFileWrite, __pyx_k_SlaveFileWrite, sizeof(__pyx_k_SlaveFileWrite), 0, 0, 1, 1},
    {&__pyx_n_s_SoftwareUpgrade, __pyx_k_SoftwareUpgrade, sizeof(__pyx_k_SoftwareUpgrade), 0, 0, 1, 1},
    {&__pyx_kp_s_Software_Upload_success, __pyx_k_Software_Upload_success, sizeof(__pyx_k_Software_Upload_success), 0, 0, 1, 0},
    {&__pyx_n_s_SplineEnd, __pyx_k_SplineEnd, sizeof(__pyx_k_SplineEnd), 0, 0, 1, 1},
    {&__pyx_n_s_SplinePTP, __pyx_k_SplinePTP, sizeof(__pyx_k_SplinePTP), 0, 0, 1, 1},
    {&__pyx_n_s_SplineStart, __pyx_k_SplineStart, sizeof(__pyx_k_SplineStart), 0, 0, 1, 1},
    {&__pyx_n_s_StartJOG, __pyx_k_StartJOG, sizeof(__pyx_k_StartJOG), 0, 0, 1, 1},
    {&__pyx_n_s_StopJOG, __pyx_k_StopJOG, sizeof(__pyx_k_StopJOG), 0, 0, 1, 1},
    {&__pyx_n_s_StopMotion, __pyx_k_StopMotion, sizeof(__pyx_k_StopMotion), 0, 0, 1, 1},
    {&__pyx_n_s_StopMove, __pyx_k_StopMove, sizeof(__pyx_k_StopMove), 0, 0, 1, 1},
    {&__pyx_n_s_Structure, __pyx_k_Structure, sizeof(__pyx_k_Structure), 0, 0, 1, 1},
    {&__pyx_n_s_Thread, __pyx_k_Thread, sizeof(__pyx_k_Thread), 0, 0, 1, 1},
    {&__pyx_n_s_ToolTrsfEnd, __pyx_k_ToolTrsfEnd, sizeof(__pyx_k_ToolTrsfEnd), 0, 0, 1, 1},
    {&__pyx_n_s_ToolTrsfStart, __pyx_k_ToolTrsfStart, sizeof(__pyx_k_ToolTrsfStart), 0, 0, 1, 1},
    {&__pyx_n_s_TractorEnable, __pyx_k_TractorEnable, sizeof(__pyx_k_TractorEnable), 0, 0, 1, 1},
    {&__pyx_n_s_TractorHoming, __pyx_k_TractorHoming, sizeof(__pyx_k_TractorHoming), 0, 0, 1, 1},
    {&__pyx_n_s_TractorMoveC, __pyx_k_TractorMoveC, sizeof(__pyx_k_TractorMoveC), 0, 0, 1, 1},
    {&__pyx_n_s_TractorMoveL, __pyx_k_TractorMoveL, sizeof(__pyx_k_TractorMoveL), 0, 0, 1, 1},
    {&__pyx_n_s_TractorStop, __pyx_k_TractorStop, sizeof(__pyx_k_TractorStop), 0, 0, 1, 1},
    {&__pyx_n_s_TrajectoryJDelete, __pyx_k_TrajectoryJDelete, sizeof(__pyx_k_TrajectoryJDelete), 0, 0, 1, 1},
    {&__pyx_n_s_TrajectoryJUpLoad, __pyx_k_TrajectoryJUpLoad, sizeof(__pyx_k_TrajectoryJUpLoad), 0, 0, 1, 1},
    {&__pyx_n_s_UnloadCtrlOpenLUA, __pyx_k_UnloadCtrlOpenLUA, sizeof(__pyx_k_UnloadCtrlOpenLUA), 0, 0, 1, 1},
    {&__pyx_n_s_ValueError, __pyx_k_ValueError, sizeof(__pyx_k_ValueError), 0, 0, 1, 1},
    {&__pyx_n_s_Vmax, __pyx_k_Vmax, sizeof(__pyx_k_Vmax), 0, 0, 1, 1},
    {&__pyx_n_s_WARNING, __pyx_k_WARNING, sizeof(__pyx_k_WARNING), 0, 0, 1, 1},
    {&__pyx_n_s_WELDING_BREAKOFF_STATE, __pyx_k_WELDING_BREAKOFF_STATE, sizeof(__pyx_k_WELDING_BREAKOFF_STATE), 0, 0, 1, 1},
    {&__pyx_n_s_WaitAI, __pyx_k_WaitAI, sizeof(__pyx_k_WaitAI), 0, 0, 1, 1},
    {&__pyx_n_s_WaitAuxAI, __pyx_k_WaitAuxAI, sizeof(__pyx_k_WaitAuxAI), 0, 0, 1, 1},
    {&__pyx_n_s_WaitAuxDI, __pyx_k_WaitAuxDI, sizeof(__pyx_k_WaitAuxDI), 0, 0, 1, 1},
    {&__pyx_n_s_WaitDI, __pyx_k_WaitDI, sizeof(__pyx_k_WaitDI), 0, 0, 1, 1},
    {&__pyx_n_s_WaitMs, __pyx_k_WaitMs, sizeof(__pyx_k_WaitMs), 0, 0, 1, 1},
    {&__pyx_n_s_WaitMultiDI, __pyx_k_WaitMultiDI, sizeof(__pyx_k_WaitMultiDI), 0, 0, 1, 1},
    {&__pyx_n_s_WaitToolAI, __pyx_k_WaitToolAI, sizeof(__pyx_k_WaitToolAI), 0, 0, 1, 1},
    {&__pyx_n_s_WaitToolDI, __pyx_k_WaitToolDI, sizeof(__pyx_k_WaitToolDI), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveChangeEnd, __pyx_k_WeaveChangeEnd, sizeof(__pyx_k_WeaveChangeEnd), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveChangeStart, __pyx_k_WeaveChangeStart, sizeof(__pyx_k_WeaveChangeStart), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveEnd, __pyx_k_WeaveEnd, sizeof(__pyx_k_WeaveEnd), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveEndSim, __pyx_k_WeaveEndSim, sizeof(__pyx_k_WeaveEndSim), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveInspectEnd, __pyx_k_WeaveInspectEnd, sizeof(__pyx_k_WeaveInspectEnd), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveInspectStart, __pyx_k_WeaveInspectStart, sizeof(__pyx_k_WeaveInspectStart), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveOnlineSetPara, __pyx_k_WeaveOnlineSetPara, sizeof(__pyx_k_WeaveOnlineSetPara), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveSetPara, __pyx_k_WeaveSetPara, sizeof(__pyx_k_WeaveSetPara), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveStart, __pyx_k_WeaveStart, sizeof(__pyx_k_WeaveStart), 0, 0, 1, 1},
    {&__pyx_n_s_WeaveStartSim, __pyx_k_WeaveStartSim, sizeof(__pyx_k_WeaveStartSim), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingAbortWeldAfterBreakOff, __pyx_k_WeldingAbortWeldAfterBreakOff, sizeof(__pyx_k_WeldingAbortWeldAfterBreakOff), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingGetCheckArcInterruptionPa, __pyx_k_WeldingGetCheckArcInterruptionPa, sizeof(__pyx_k_WeldingGetCheckArcInterruptionPa), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingGetCurrentRelation, __pyx_k_WeldingGetCurrentRelation, sizeof(__pyx_k_WeldingGetCurrentRelation), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingGetProcessParam, __pyx_k_WeldingGetProcessParam, sizeof(__pyx_k_WeldingGetProcessParam), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingGetReWeldAfterBreakOffPar, __pyx_k_WeldingGetReWeldAfterBreakOffPar, sizeof(__pyx_k_WeldingGetReWeldAfterBreakOffPar), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingGetVoltageRelation, __pyx_k_WeldingGetVoltageRelation, sizeof(__pyx_k_WeldingGetVoltageRelation), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingSetCheckArcInterruptionPa, __pyx_k_WeldingSetCheckArcInterruptionPa, sizeof(__pyx_k_WeldingSetCheckArcInterruptionPa), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingSetCurrent, __pyx_k_WeldingSetCurrent, sizeof(__pyx_k_WeldingSetCurrent), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingSetCurrentRelation, __pyx_k_WeldingSetCurrentRelation, sizeof(__pyx_k_WeldingSetCurrentRelation), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingSetProcessParam, __pyx_k_WeldingSetProcessParam, sizeof(__pyx_k_WeldingSetProcessParam), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingSetReWeldAfterBreakOffPar, __pyx_k_WeldingSetReWeldAfterBreakOffPar, sizeof(__pyx_k_WeldingSetReWeldAfterBreakOffPar), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingSetVoltage, __pyx_k_WeldingSetVoltage, sizeof(__pyx_k_WeldingSetVoltage), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingSetVoltageRelation, __pyx_k_WeldingSetVoltageRelation, sizeof(__pyx_k_WeldingSetVoltageRelation), 0, 0, 1, 1},
    {&__pyx_n_s_WeldingStartReWeldAfterBreakOff, __pyx_k_WeldingStartReWeldAfterBreakOff, sizeof(__pyx_k_WeldingStartReWeldAfterBreakOff), 0, 0, 1, 1},
    {&__pyx_n_s_WireSearchEnd, __pyx_k_WireSearchEnd, sizeof(__pyx_k_WireSearchEnd), 0, 0, 1, 1},
    {&__pyx_n_s_WireSearchStart, __pyx_k_WireSearchStart, sizeof(__pyx_k_WireSearchStart), 0, 0, 1, 1},
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 * 
 *         result_buf = client.recv(1024)
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 * 
 *         print("RPC connection closed.")             # <<<<<<<<<<<<<<
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 * 
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 *     def robot_state_routine_thread(self):             # <<<<<<<<<<<<<<
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 *     def join_logging_thread(self):             # <<<<<<<<<<<<<<
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 *     def send_message(self, message):             # <<<<<<<<<<<<<<
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    res = PyList_New(n);
    if (unlikely(res == NULL)) return NULL;
    __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n);
    return res;
}
#endif

/* BytesEquals */
static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) {
#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API
    return PyObject_RichCompareBool(s1, s2, equals);
#else
    if (s1 == s2) {
        return (equals == Py_EQ);
    } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) {
        const char *ps1, *ps2;
        Py_ssize_t length = PyBytes_GET_SIZE(s1);
        if (length != PyBytes_GET_SIZE(s2))
            return (equals == Py_NE);
        ps1 = PyBytes_AS_STRING(s1);
        ps2 = PyBytes_AS_STRING(s2);
        if (ps1[0] != ps2[0]) {
            return (equals == Py_NE);
        } else if (length == 1) {
            return (equals == Py_EQ);
        } else {
            int result;
#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000)
            Py_hash_t hash1, hash2;
            hash1 = ((PyBytesObject*)s1)->ob_shash;
            hash2 = ((PyBytesObject*)s2)->ob_shash;
            if (hash1 != hash2 && hash1 != -1 && hash2 != -1) {
                return (equals == Py_NE);
            }
#endif
            result = memcmp(ps1, ps2, (size_t)length);
            return (equals == Py_EQ) ? (result == 0) : (result != 0);
        }
    } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) {
        return (equals == Py_NE);
    } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) {
        return (equals == Py_NE);
    } else {
        int result;
        PyObject* py_result = PyObject_RichCompare(s1, s2, equals);
        if (!py_result)
            return -1;
        result = __Pyx_PyObject_IsTrue(py_result);
        Py_DECREF(py_result);
        return result;
    }
#endif
}

/* UnicodeEquals */
static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) {
#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API
    return PyObject_RichCompareBool(s1, s2, equals);
#else
#if PY_MAJOR_VERSION < 3
    PyObject* owned_ref = NULL;
#endif
    int s1_is_unicode, s2_is_unicode;
    if (s1 == s2) {
        goto return_eq;
    }
    s1_is_unicode = PyUnicode_CheckExact(s1);
    s2_is_unicode = PyUnicode_CheckExact(s2);
#if PY_MAJOR_VERSION < 3
    if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) {
        owned_ref = PyUnicode_FromObject(s2);
        if (unlikely(!owned_ref))
            return -1;
        s2 = owned_ref;
        s2_is_unicode = 1;
    } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) {
        owned_ref = PyUnicode_FromObject(s1);
        if (unlikely(!owned_ref))
            return -1;
        s1 = owned_ref;
        s1_is_unicode = 1;
    } else if (((!s2_is_unicode) & (!s1_is_unicode))) {
        return __Pyx_PyBytes_Equals(s1, s2, equals);
    }
#endif
    if (s1_is_unicode & s2_is_unicode) {
        Py_ssize_t length;
        int kind;
        void *data1, *data2;
        if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0))
            return -1;
        length = __Pyx_PyUnicode_GET_LENGTH(s1);
        if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) {
            goto return_ne;
        }
#if CYTHON_USE_UNICODE_INTERNALS
        {
            Py_hash_t hash1, hash2;
        #if CYTHON_PEP393_ENABLED
            hash1 = ((PyASCIIObject*)s1)->hash;
            hash2 = ((PyASCIIObject*)s2)->hash;
        #else
            hash1 = ((PyUnicodeObject*)s1)->hash;
            hash2 = ((PyUnicodeObject*)s2)->hash;
        #endif
            if (hash1 != hash2 && hash1 != -1 && hash2 != -1) {
                goto return_ne;
            }
        }
#endif
        kind = __Pyx_PyUnicode_KIND(s1);
        if (kind != __Pyx_PyUnicode_KIND(s2)) {
            goto return_ne;
        }
        data1 = __Pyx_PyUnicode_DATA(s1);
        data2 = __Pyx_PyUnicode_DATA(s2);
        if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) {
            goto return_ne;
        } else if (length == 1) {
            goto return_eq;
        } else {
            int result = memcmp(data1, data2, (size_t)(length * kind));
            #if PY_MAJOR_VERSION < 3
            Py_XDECREF(owned_ref);
            #endif
            return (equals == Py_EQ) ? (result == 0) : (result != 0);
        }
    } else if ((s1 == Py_None) & s2_is_unicode) {
        goto return_ne;
    } else if ((s2 == Py_None) & s1_is_unicode) {
        goto return_ne;
    } else {
        int result;
        PyObject* py_result = PyObject_RichCompare(s1, s2, equals);
        #if PY_MAJOR_VERSION < 3
        Py_XDECREF(owned_ref);
        #endif
        if (!py_result)
            return -1;
        result = __Pyx_PyObject_IsTrue(py_result);
        Py_DECREF(py_result);
        return result;
    }
return_eq:
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(owned_ref);
    #endif
    return (equals == Py_EQ);
return_ne:
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(owned_ref);
    #endif
    return (equals == Py_NE);
#endif
}

/* fastcall */
#if CYTHON_METH_FASTCALL
static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s)
{
    Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames);
    for (i = 0; i < n; i++)
    {
        if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i];
    }
    for (i = 0; i < n; i++)
    {
        int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ);
        if (unlikely(eq != 0)) {
            if (unlikely(eq < 0)) return NULL;
            return kwvalues[i];
        }
    }
    return NULL;
}
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000
CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) {
    Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames);
    PyObject *dict;
    dict = PyDict_New();
    if (unlikely(!dict))
        return NULL;
    for (i=0; i<nkwargs; i++) {
        PyObject *key = PyTuple_GET_ITEM(kwnames, i);
        if (unlikely(PyDict_SetItem(dict, key, kwvalues[i]) < 0))
            goto bad;
    }
    return dict;
bad:
    Py_DECREF(dict);
    return NULL;
}
#endif
#endif

/* RaiseArgTupleInvalid */
static void __Pyx_RaiseArgtupleInvalid(
    const char* func_name,
    int exact,
    Py_ssize_t num_min,
    Py_ssize_t num_max,
    Py_ssize_t num_found)
{
    Py_ssize_t num_expected;
    const char *more_or_less;
    if (num_found < num_min) {
        num_expected = num_min;
        more_or_less = "at least";
    } else {
        num_expected = num_max;
        more_or_less = "at most";
    }
    if (exact) {
        more_or_less = "exactly";
    }
    PyErr_Format(PyExc_TypeError,
                 "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)",
                 func_name, more_or_less, num_expected,
                 (num_expected == 1) ? "" : "s", num_found);
}

/* RaiseDoubleKeywords */
static void __Pyx_RaiseDoubleKeywordsError(
    const char* func_name,
    PyObject* kw_name)
{
    PyErr_Format(PyExc_TypeError,
        #if PY_MAJOR_VERSION >= 3
        "%s() got multiple values for keyword argument '%U'", func_name, kw_name);
        #else
        "%s() got multiple values for keyword argument '%s'", func_name,
        PyString_AsString(kw_name));
        #endif
}

/* ParseKeywords */
static int __Pyx_ParseOptionalKeywords(
    PyObject *kwds,
    PyObject *const *kwvalues,
    PyObject **argnames[],
    PyObject *kwds2,
    PyObject *values[],
    Py_ssize_t num_pos_args,
    const char* function_name)
{
    PyObject *key = 0, *value = 0;
    Py_ssize_t pos = 0;
    PyObject*** name;
    PyObject*** first_kw_arg = argnames + num_pos_args;
    int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds));
    while (1) {
        Py_XDECREF(key); key = NULL;
        Py_XDECREF(value); value = NULL;
        if (kwds_is_tuple) {
            Py_ssize_t size;
#if CYTHON_ASSUME_SAFE_MACROS
            size = PyTuple_GET_SIZE(kwds);
#else
            size = PyTuple_Size(kwds);
            if (size < 0) goto bad;
#endif
            if (pos >= size) break;
#if CYTHON_AVOID_BORROWED_REFS
            key = __Pyx_PySequence_ITEM(kwds, pos);
            if (!key) goto bad;
#elif CYTHON_ASSUME_SAFE_MACROS
            key = PyTuple_GET_ITEM(kwds, pos);
#else
            key = PyTuple_GetItem(kwds, pos);
            if (!key) goto bad;
#endif
            value = kwvalues[pos];
            pos++;
        }
        else
        {
            if (!PyDict_Next(kwds, &pos, &key, &value)) break;
#if CYTHON_AVOID_BORROWED_REFS
            Py_INCREF(key);
#endif
        }
        name = first_kw_arg;
        while (*name && (**name != key)) name++;
        if (*name) {
            values[name-argnames] = value;
#if CYTHON_AVOID_BORROWED_REFS
            Py_INCREF(value);
            Py_DECREF(key);
#endif
            key = NULL;
            value = NULL;
            continue;
        }
#if !CYTHON_AVOID_BORROWED_REFS
        Py_INCREF(key);
#endif
        Py_INCREF(value);
        name = first_kw_arg;
        #if PY_MAJOR_VERSION < 3
        if (likely(PyString_Check(key))) {
            while (*name) {
                if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key))
                        && _PyString_Eq(**name, key)) {
                    values[name-argnames] = value;
#if CYTHON_AVOID_BORROWED_REFS
                    value = NULL;
#endif
                    break;
                }
                name++;
            }
            if (*name) continue;
            else {
                PyObject*** argname = argnames;
                while (argname != first_kw_arg) {
                    if ((**argname == key) || (
                            (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key))
                             && _PyString_Eq(**argname, key))) {
                        goto arg_passed_twice;
                    }
                    argname++;
                }
            }
        } else
        #endif
        if (likely(PyUnicode_Check(key))) {
            while (*name) {
                int cmp = (
                #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3
                    (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 :
                #endif
                    PyUnicode_Compare(**name, key)
                );
                if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad;
                if (cmp == 0) {
                    values[name-argnames] = value;
#if CYTHON_AVOID_BORROWED_REFS
                    value = NULL;
#endif
                    break;
                }
                name++;
            }
            if (*name) continue;
            else {
                PyObject*** argname = argnames;
                while (argname != first_kw_arg) {
                    int cmp = (**argname == key) ? 0 :
                    #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3
                        (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 :
                    #endif
                        PyUnicode_Compare(**argname, key);
                    if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad;
                    if (cmp == 0) goto arg_passed_twice;
                    argname++;
                }
            }
        } else
            goto invalid_keyword_type;
        if (kwds2) {
            if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad;
        } else {
            goto invalid_keyword;
        }
    }
    Py_XDECREF(key);
    Py_XDECREF(value);
    return 0;
arg_passed_twice:
    __Pyx_RaiseDoubleKeywordsError(function_name, key);
    goto bad;
invalid_keyword_type:
    PyErr_Format(PyExc_TypeError,
        "%.200s() keywords must be strings", function_name);
    goto bad;
invalid_keyword:
    #if PY_MAJOR_VERSION < 3
    PyErr_Format(PyExc_TypeError,
        "%.200s() got an unexpected keyword argument '%.200s'",
        function_name, PyString_AsString(key));
    #else
    PyErr_Format(PyExc_TypeError,
        "%s() got an unexpected keyword argument '%U'",
        function_name, key);
    #endif
bad:
    Py_XDECREF(key);
    Py_XDECREF(value);
    return -1;
}

/* PyObjectCall */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) {
    PyObject *result;
    ternaryfunc call = Py_TYPE(func)->tp_call;
    if (unlikely(!call))
        return PyObject_Call(func, arg, kw);
    #if PY_MAJOR_VERSION < 3
    if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object")))
        return NULL;
    #else
    if (unlikely(Py_EnterRecursiveCall(" while calling a Python object")))
        return NULL;
    #endif
    result = (*call)(func, arg, kw);
    Py_LeaveRecursiveCall();
    if (unlikely(!result) && unlikely(!PyErr_Occurred())) {
        PyErr_SetString(
            PyExc_SystemError,
            "NULL result without error in PyObject_Call");
    }
    return result;
}
#endif

/* PyFunctionFastCall */
#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL
static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na,
                                               PyObject *globals) {
    PyFrameObject *f;
    PyThreadState *tstate = __Pyx_PyThreadState_Current;
    PyObject **fastlocals;
    Py_ssize_t i;
    PyObject *result;
    assert(globals != NULL);
    /* XXX Perhaps we should create a specialized
       PyFrame_New() that doesn't take locals, but does
       take builtins without sanity checking them.
       */
    assert(tstate != NULL);
    f = PyFrame_New(tstate, co, globals, NULL);
    if (f == NULL) {
        return NULL;
    }
    fastlocals = __Pyx_PyFrame_GetLocalsplus(f);
    for (i = 0; i < na; i++) {
        Py_INCREF(*args);
        fastlocals[i] = *args++;
    }
    result = PyEval_EvalFrameEx(f,0);
    ++tstate->recursion_depth;
    Py_DECREF(f);
    --tstate->recursion_depth;
    return result;
}
static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) {
    PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func);
    PyObject *globals = PyFunction_GET_GLOBALS(func);
    PyObject *argdefs = PyFunction_GET_DEFAULTS(func);
    PyObject *closure;
#if PY_MAJOR_VERSION >= 3
    PyObject *kwdefs;
#endif
    PyObject *kwtuple, **k;
    PyObject **d;
    Py_ssize_t nd;
    Py_ssize_t nk;
    PyObject *result;
    assert(kwargs == NULL || PyDict_Check(kwargs));
    nk = kwargs ? PyDict_Size(kwargs) : 0;
    #if PY_MAJOR_VERSION < 3
    if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) {
        return NULL;
    }
    #else
    if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) {
        return NULL;
    }
    #endif
    if (
#if PY_MAJOR_VERSION >= 3
            co->co_kwonlyargcount == 0 &&
#endif
            likely(kwargs == NULL || nk == 0) &&
            co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) {
        if (argdefs == NULL && co->co_argcount == nargs) {
            result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals);
            goto done;
        }
        else if (nargs == 0 && argdefs != NULL
                 && co->co_argcount == Py_SIZE(argdefs)) {
            /* function called with no arguments, but all parameters have
               a default value: use default values as arguments .*/
            args = &PyTuple_GET_ITEM(argdefs, 0);
            result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals);
            goto done;
        }
    }
    if (kwargs != NULL) {
        Py_ssize_t pos, i;
        kwtuple = PyTuple_New(2 * nk);
        if (kwtuple == NULL) {
            result = NULL;
            goto done;
        }
        k = &PyTuple_GET_ITEM(kwtuple, 0);
        pos = i = 0;
        while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) {
            Py_INCREF(k[i]);
            Py_INCREF(k[i+1]);
            i += 2;
        }
        nk = i / 2;
    }
    else {
        kwtuple = NULL;
        k = NULL;
    }
    closure = PyFunction_GET_CLOSURE(func);
#if PY_MAJOR_VERSION >= 3
    kwdefs = PyFunction_GET_KW_DEFAULTS(func);
#endif
    if (argdefs != NULL) {
        d = &PyTuple_GET_ITEM(argdefs, 0);
        nd = Py_SIZE(argdefs);
    }
    else {
        d = NULL;
        nd = 0;
    }
#if PY_MAJOR_VERSION >= 3
    result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL,
                               args, (int)nargs,
                               k, (int)nk,
                               d, (int)nd, kwdefs, closure);
#else
    result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL,
                               args, (int)nargs,
                               k, (int)nk,
                               d, (int)nd, closure);
#endif
    Py_XDECREF(kwtuple);
done:
    Py_LeaveRecursiveCall();
    return result;
}
#endif

/* PyObjectCallMethO */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) {
    PyObject *self, *result;
    PyCFunction cfunc;
    cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func);
    self = __Pyx_CyOrPyCFunction_GET_SELF(func);
    #if PY_MAJOR_VERSION < 3
    if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object")))
        return NULL;
    #else
    if (unlikely(Py_EnterRecursiveCall(" while calling a Python object")))
        return NULL;
    #endif
    result = cfunc(self, arg);
    Py_LeaveRecursiveCall();
    if (unlikely(!result) && unlikely(!PyErr_Occurred())) {
        PyErr_SetString(
            PyExc_SystemError,
            "NULL result without error in PyObject_Call");
    }
    return result;
}
#endif

/* PyObjectFastCall */
#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API
static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) {
    PyObject *argstuple;
    PyObject *result = 0;
    size_t i;
    argstuple = PyTuple_New((Py_ssize_t)nargs);
    if (unlikely(!argstuple)) return NULL;
    for (i = 0; i < nargs; i++) {
        Py_INCREF(args[i]);
        if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad;
    }
    result = __Pyx_PyObject_Call(func, argstuple, kwargs);
  bad:
    Py_DECREF(argstuple);
    return result;
}
#endif
static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) {
    Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs);
#if CYTHON_COMPILING_IN_CPYTHON
    if (nargs == 0 && kwargs == NULL) {
        if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS))
            return __Pyx_PyObject_CallMethO(func, NULL);
    }
    else if (nargs == 1 && kwargs == NULL) {
        if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O))
            return __Pyx_PyObject_CallMethO(func, args[0]);
    }
#endif
    #if PY_VERSION_HEX < 0x030800B1
    #if CYTHON_FAST_PYCCALL
    if (PyCFunction_Check(func)) {
        if (kwargs) {
            return _PyCFunction_FastCallDict(func, args, nargs, kwargs);
        } else {
            return _PyCFunction_FastCallKeywords(func, args, nargs, NULL);
        }
    }
    #if PY_VERSION_HEX >= 0x030700A1
    if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) {
        return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL);
    }
    #endif
    #endif
    #if CYTHON_FAST_PYCALL
    if (PyFunction_Check(func)) {
        return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs);
    }
    #endif
    #endif
    if (kwargs == NULL) {
        #if CYTHON_VECTORCALL
        #if PY_VERSION_HEX < 0x03090000
        vectorcallfunc f = _PyVectorcall_Function(func);
        #else
        vectorcallfunc f = PyVectorcall_Function(func);
        #endif
        if (f) {
            return f(func, args, (size_t)nargs, NULL);
        }
        #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL
        if (__Pyx_CyFunction_CheckExact(func)) {
            __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func);
            if (f) return f(func, args, (size_t)nargs, NULL);
        }
        #endif
    }
    if (nargs == 0) {
        return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs);
    }
    #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API
    return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs);
    #else
    return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs);
    #endif
}

/* PyObjectSetAttrStr */
#if CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) {
    PyTypeObject* tp = Py_TYPE(obj);
    if (likely(tp->tp_setattro))
        return tp->tp_setattro(obj, attr_name, value);
#if PY_MAJOR_VERSION < 3
    if (likely(tp->tp_setattr))
        return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value);
#endif
    return PyObject_SetAttr(obj, attr_name, value);
}
#endif

/* PyDictVersioning */
#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) {
    PyObject *dict = Py_TYPE(obj)->tp_dict;
    return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0;
}
static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) {
    PyObject **dictptr = NULL;
    Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset;
    if (offset) {
#if CYTHON_COMPILING_IN_CPYTHON
        dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj);
#else
        dictptr = _PyObject_GetDictPtr(obj);
#endif
    }
    return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0;
}
static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) {
    PyObject *dict = Py_TYPE(obj)->tp_dict;
    if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict)))
        return 0;
    return obj_dict_version == __Pyx_get_object_dict_version(obj);
}
#endif

/* GetModuleGlobalName */
#if CYTHON_USE_DICT_VERSIONS
static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value)
#else
static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name)
#endif
{
    PyObject *result;
#if !CYTHON_AVOID_BORROWED_REFS
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000
    result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash);
    __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
    if (likely(result)) {
        return __Pyx_NewRef(result);
    } else if (unlikely(PyErr_Occurred())) {
        return NULL;
    }
#elif CYTHON_COMPILING_IN_LIMITED_API
    if (unlikely(!__pyx_m)) {
        return NULL;
    }
    result = PyObject_GetAttr(__pyx_m, name);
    if (likely(result)) {
        return result;
    }
#else
    result = PyDict_GetItem(__pyx_d, name);
    __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
    if (likely(result)) {
        return __Pyx_NewRef(result);
    }
#endif
#else
    result = PyObject_GetItem(__pyx_d, name);
    __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
    if (likely(result)) {
        return __Pyx_NewRef(result);
    }
    PyErr_Clear();
#endif
    return __Pyx_GetBuiltinName(name);
}

/* PyIntCompare */
static CYTHON_INLINE int __Pyx_PyInt_BoolEqObjC(PyObject *op1, PyObject *op2, long intval, long inplace) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_UNUSED_VAR(inplace);
    if (op1 == op2) {
        return 1;
    }
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long a = PyInt_AS_LONG(op1);
        return (a == b);
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        int unequal;
        unsigned long uintval;
        Py_ssize_t size = __Pyx_PyLong_DigitCount(op1);
        const digit* digits = __Pyx_PyLong_Digits(op1);
        if (intval == 0) {
            return (__Pyx_PyLong_IsZero(op1) == 1);
        } else if (intval < 0) {
            if (__Pyx_PyLong_IsNonNeg(op1))
                return 0;
            intval = -intval;
        } else {
            if (__Pyx_PyLong_IsNeg(op1))
                return 0;
        }
        uintval = (unsigned long) intval;
#if PyLong_SHIFT * 4 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 4)) {
            unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 3 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 3)) {
            unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 2 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 2)) {
            unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 1 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 1)) {
            unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
            unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK));
        return (unequal == 0);
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
#if CYTHON_COMPILING_IN_LIMITED_API
        double a = __pyx_PyFloat_AsDouble(op1);
#else
        double a = PyFloat_AS_DOUBLE(op1);
#endif
        return ((double)a == (double)b);
    }
    return __Pyx_PyObject_IsTrueAndDecref(
        PyObject_RichCompare(op1, op2, Py_EQ));
}

/* PyObjectCall2Args */
static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) {
    PyObject *args[3] = {NULL, arg1, arg2};
    return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET);
}

/* PyObjectCallOneArg */
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) {
    PyObject *args[2] = {NULL, arg};
    return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET);
}

/* PyObjectGetMethod */
static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) {
    PyObject *attr;
#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP
    __Pyx_TypeName type_name;
    PyTypeObject *tp = Py_TYPE(obj);
    PyObject *descr;
    descrgetfunc f = NULL;
    PyObject **dictptr, *dict;
    int meth_found = 0;
    assert (*method == NULL);
    if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) {
        attr = __Pyx_PyObject_GetAttrStr(obj, name);
        goto try_unpack;
    }
    if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) {
        return 0;
    }
    descr = _PyType_Lookup(tp, name);
    if (likely(descr != NULL)) {
        Py_INCREF(descr);
#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR
        if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR))
#elif PY_MAJOR_VERSION >= 3
        #ifdef __Pyx_CyFunction_USED
        if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr)))
        #else
        if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type)))
        #endif
#else
        #ifdef __Pyx_CyFunction_USED
        if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr)))
        #else
        if (likely(PyFunction_Check(descr)))
        #endif
#endif
        {
            meth_found = 1;
        } else {
            f = Py_TYPE(descr)->tp_descr_get;
            if (f != NULL && PyDescr_IsData(descr)) {
                attr = f(descr, obj, (PyObject *)Py_TYPE(obj));
                Py_DECREF(descr);
                goto try_unpack;
            }
        }
    }
    dictptr = _PyObject_GetDictPtr(obj);
    if (dictptr != NULL && (dict = *dictptr) != NULL) {
        Py_INCREF(dict);
        attr = __Pyx_PyDict_GetItemStr(dict, name);
        if (attr != NULL) {
            Py_INCREF(attr);
            Py_DECREF(dict);
            Py_XDECREF(descr);
            goto try_unpack;
        }
        Py_DECREF(dict);
    }
    if (meth_found) {
        *method = descr;
        return 1;
    }
    if (f != NULL) {
        attr = f(descr, obj, (PyObject *)Py_TYPE(obj));
        Py_DECREF(descr);
        goto try_unpack;
    }
    if (likely(descr != NULL)) {
        *method = descr;
        return 0;
    }
    type_name = __Pyx_PyType_GetName(tp);
    PyErr_Format(PyExc_AttributeError,
#if PY_MAJOR_VERSION >= 3
                 "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'",
                 type_name, name);
#else
                 "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'",
                 type_name, PyString_AS_STRING(name));
#endif
    __Pyx_DECREF_TypeName(type_name);
    return 0;
#else
    attr = __Pyx_PyObject_GetAttrStr(obj, name);
    goto try_unpack;
#endif
try_unpack:
#if CYTHON_UNPACK_METHODS
    if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) {
        PyObject *function = PyMethod_GET_FUNCTION(attr);
        Py_INCREF(function);
        Py_DECREF(attr);
        *method = function;
        return 1;
    }
#endif
    *method = attr;
    return 0;
}

/* PyObjectCallMethod1 */
#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2)
static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) {
    PyObject *result = __Pyx_PyObject_CallOneArg(method, arg);
    Py_DECREF(method);
    return result;
}
#endif
static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) {
#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2
    PyObject *args[2] = {obj, arg};
    (void) __Pyx_PyObject_GetMethod;
    (void) __Pyx_PyObject_CallOneArg;
    (void) __Pyx_PyObject_Call2Args;
    return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL);
#else
    PyObject *method = NULL, *result;
    int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method);
    if (likely(is_method)) {
        result = __Pyx_PyObject_Call2Args(method, obj, arg);
        Py_DECREF(method);
        return result;
    }
    if (unlikely(!method)) return NULL;
    return __Pyx__PyObject_CallMethod1(method, arg);
#endif
}

/* append */
static CYTHON_INLINE int __Pyx_PyObject_Append(PyObject* L, PyObject* x) {
    if (likely(PyList_CheckExact(L))) {
        if (unlikely(__Pyx_PyList_Append(L, x) < 0)) return -1;
    } else {
        PyObject* retval = __Pyx_PyObject_CallMethod1(L, __pyx_n_s_append, x);
        if (unlikely(!retval))
            return -1;
        Py_DECREF(retval);
    }
    return 0;
}

/* UnicodeConcatInPlace */
# if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION >= 3
static int
__Pyx_unicode_modifiable(PyObject *unicode)
{
    if (Py_REFCNT(unicode) != 1)
        return 0;
    if (!PyUnicode_CheckExact(unicode))
        return 0;
    if (PyUnicode_CHECK_INTERNED(unicode))
        return 0;
    return 1;
}
static CYTHON_INLINE PyObject *__Pyx_PyUnicode_ConcatInPlaceImpl(PyObject **p_left, PyObject *right
        #if CYTHON_REFNANNY
        , void* __pyx_refnanny
        #endif
    ) {
    PyObject *left = *p_left;
    Py_ssize_t left_len, right_len, new_len;
    if (unlikely(__Pyx_PyUnicode_READY(left) == -1))
        return NULL;
    if (unlikely(__Pyx_PyUnicode_READY(right) == -1))
        return NULL;
    left_len = PyUnicode_GET_LENGTH(left);
    if (left_len == 0) {
        Py_INCREF(right);
        return right;
    }
    right_len = PyUnicode_GET_LENGTH(right);
    if (right_len == 0) {
        Py_INCREF(left);
        return left;
    }
    if (unlikely(left_len > PY_SSIZE_T_MAX - right_len)) {
        PyErr_SetString(PyExc_OverflowError,
                        "strings are too large to concat");
        return NULL;
    }
    new_len = left_len + right_len;
    if (__Pyx_unicode_modifiable(left)
            && PyUnicode_CheckExact(right)
            && PyUnicode_KIND(right) <= PyUnicode_KIND(left)
            && !(PyUnicode_IS_ASCII(left) && !PyUnicode_IS_ASCII(right))) {
        int ret;
        __Pyx_GIVEREF(*p_left);
        ret = PyUnicode_Resize(p_left, new_len);
        __Pyx_GOTREF(*p_left);
        if (unlikely(ret != 0))
            return NULL;
        #if PY_VERSION_HEX >= 0x030d0000
        if (unlikely(PyUnicode_CopyCharacters(*p_left, left_len, right, 0, right_len) < 0)) return NULL;
        #else
        _PyUnicode_FastCopyCharacters(*p_left, left_len, right, 0, right_len);
        #endif
        __Pyx_INCREF(*p_left);
        __Pyx_GIVEREF(*p_left);
        return *p_left;
    } else {
        return __Pyx_PyUnicode_Concat(left, right);
    }
  }
#endif

/* RaiseException */
#if PY_MAJOR_VERSION < 3
static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) {
    __Pyx_PyThreadState_declare
    CYTHON_UNUSED_VAR(cause);
    Py_XINCREF(type);
    if (!value || value == Py_None)
        value = NULL;
    else
        Py_INCREF(value);
    if (!tb || tb == Py_None)
        tb = NULL;
    else {
        Py_INCREF(tb);
        if (!PyTraceBack_Check(tb)) {
            PyErr_SetString(PyExc_TypeError,
                "raise: arg 3 must be a traceback or None");
            goto raise_error;
        }
    }
    if (PyType_Check(type)) {
#if CYTHON_COMPILING_IN_PYPY
        if (!value) {
            Py_INCREF(Py_None);
            value = Py_None;
        }
#endif
        PyErr_NormalizeException(&type, &value, &tb);
    } else {
        if (value) {
            PyErr_SetString(PyExc_TypeError,
                "instance exception may not have a separate value");
            goto raise_error;
        }
        value = type;
        type = (PyObject*) Py_TYPE(type);
        Py_INCREF(type);
        if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) {
            PyErr_SetString(PyExc_TypeError,
                "raise: exception class must be a subclass of BaseException");
            goto raise_error;
        }
    }
    __Pyx_PyThreadState_assign
    __Pyx_ErrRestore(type, value, tb);
    return;
raise_error:
    Py_XDECREF(value);
    Py_XDECREF(type);
    Py_XDECREF(tb);
    return;
}
#else
static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) {
    PyObject* owned_instance = NULL;
    if (tb == Py_None) {
        tb = 0;
    } else if (tb && !PyTraceBack_Check(tb)) {
        PyErr_SetString(PyExc_TypeError,
            "raise: arg 3 must be a traceback or None");
        goto bad;
    }
    if (value == Py_None)
        value = 0;
    if (PyExceptionInstance_Check(type)) {
        if (value) {
            PyErr_SetString(PyExc_TypeError,
                "instance exception may not have a separate value");
            goto bad;
        }
        value = type;
        type = (PyObject*) Py_TYPE(value);
    } else if (PyExceptionClass_Check(type)) {
        PyObject *instance_class = NULL;
        if (value && PyExceptionInstance_Check(value)) {
            instance_class = (PyObject*) Py_TYPE(value);
            if (instance_class != type) {
                int is_subclass = PyObject_IsSubclass(instance_class, type);
                if (!is_subclass) {
                    instance_class = NULL;
                } else if (unlikely(is_subclass == -1)) {
                    goto bad;
                } else {
                    type = instance_class;
                }
            }
        }
        if (!instance_class) {
            PyObject *args;
            if (!value)
                args = PyTuple_New(0);
            else if (PyTuple_Check(value)) {
                Py_INCREF(value);
                args = value;
            } else
                args = PyTuple_Pack(1, value);
            if (!args)
                goto bad;
            owned_instance = PyObject_Call(type, args, NULL);
            Py_DECREF(args);
            if (!owned_instance)
                goto bad;
            value = owned_instance;
            if (!PyExceptionInstance_Check(value)) {
                PyErr_Format(PyExc_TypeError,
                             "calling %R should have returned an instance of "
                             "BaseException, not %R",
                             type, Py_TYPE(value));
                goto bad;
            }
        }
    } else {
        PyErr_SetString(PyExc_TypeError,
            "raise: exception class must be a subclass of BaseException");
        goto bad;
    }
    if (cause) {
        PyObject *fixed_cause;
        if (cause == Py_None) {
            fixed_cause = NULL;
        } else if (PyExceptionClass_Check(cause)) {
            fixed_cause = PyObject_CallObject(cause, NULL);
            if (fixed_cause == NULL)
                goto bad;
        } else if (PyExceptionInstance_Check(cause)) {
            fixed_cause = cause;
            Py_INCREF(fixed_cause);
        } else {
            PyErr_SetString(PyExc_TypeError,
                            "exception causes must derive from "
                            "BaseException");
            goto bad;
        }
        PyException_SetCause(value, fixed_cause);
    }
    PyErr_SetObject(type, value);
    if (tb) {
      #if PY_VERSION_HEX >= 0x030C00A6
        PyException_SetTraceback(value, tb);
      #elif CYTHON_FAST_THREAD_STATE
        PyThreadState *tstate = __Pyx_PyThreadState_Current;
        PyObject* tmp_tb = tstate->curexc_traceback;
        if (tb != tmp_tb) {
            Py_INCREF(tb);
            tstate->curexc_traceback = tb;
            Py_XDECREF(tmp_tb);
        }
#else
        PyObject *tmp_type, *tmp_value, *tmp_tb;
        PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb);
        Py_INCREF(tb);
        PyErr_Restore(tmp_type, tmp_value, tb);
        Py_XDECREF(tmp_tb);
#endif
    }
bad:
    Py_XDECREF(owned_instance);
    return;
}
#endif

/* PyObjectLookupSpecial */
#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) {
    PyObject *res;
    PyTypeObject *tp = Py_TYPE(obj);
#if PY_MAJOR_VERSION < 3
    if (unlikely(PyInstance_Check(obj)))
        return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name);
#endif
    res = _PyType_Lookup(tp, attr_name);
    if (likely(res)) {
        descrgetfunc f = Py_TYPE(res)->tp_descr_get;
        if (!f) {
            Py_INCREF(res);
        } else {
            res = f(res, obj, (PyObject *)tp);
        }
    } else if (with_error) {
        PyErr_SetObject(PyExc_AttributeError, attr_name);
    }
    return res;
}
#endif

/* GetTopmostException */
#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE
static _PyErr_StackItem *
__Pyx_PyErr_GetTopmostException(PyThreadState *tstate)
{
    _PyErr_StackItem *exc_info = tstate->exc_info;
    while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) &&
           exc_info->previous_item != NULL)
    {
        exc_info = exc_info->previous_item;
    }
    return exc_info;
}
#endif

/* SaveResetException */
#if CYTHON_FAST_THREAD_STATE
static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) {
  #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4
    _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate);
    PyObject *exc_value = exc_info->exc_value;
    if (exc_value == NULL || exc_value == Py_None) {
        *value = NULL;
        *type = NULL;
        *tb = NULL;
    } else {
        *value = exc_value;
        Py_INCREF(*value);
        *type = (PyObject*) Py_TYPE(exc_value);
        Py_INCREF(*type);
        *tb = PyException_GetTraceback(exc_value);
    }
  #elif CYTHON_USE_EXC_INFO_STACK
    _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate);
    *type = exc_info->exc_type;
    *value = exc_info->exc_value;
    *tb = exc_info->exc_traceback;
    Py_XINCREF(*type);
    Py_XINCREF(*value);
    Py_XINCREF(*tb);
  #else
    *type = tstate->exc_type;
    *value = tstate->exc_value;
    *tb = tstate->exc_traceback;
    Py_XINCREF(*type);
    Py_XINCREF(*value);
    Py_XINCREF(*tb);
  #endif
}
static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) {
  #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4
    _PyErr_StackItem *exc_info = tstate->exc_info;
    PyObject *tmp_value = exc_info->exc_value;
    exc_info->exc_value = value;
    Py_XDECREF(tmp_value);
    Py_XDECREF(type);
    Py_XDECREF(tb);
  #else
    PyObject *tmp_type, *tmp_value, *tmp_tb;
    #if CYTHON_USE_EXC_INFO_STACK
    _PyErr_StackItem *exc_info = tstate->exc_info;
    tmp_type = exc_info->exc_type;
    tmp_value = exc_info->exc_value;
    tmp_tb = exc_info->exc_traceback;
    exc_info->exc_type = type;
    exc_info->exc_value = value;
    exc_info->exc_traceback = tb;
    #else
    tmp_type = tstate->exc_type;
    tmp_value = tstate->exc_value;
    tmp_tb = tstate->exc_traceback;
    tstate->exc_type = type;
    tstate->exc_value = value;
    tstate->exc_traceback = tb;
    #endif
    Py_XDECREF(tmp_type);
    Py_XDECREF(tmp_value);
    Py_XDECREF(tmp_tb);
  #endif
}
#endif

/* GetException */
#if CYTHON_FAST_THREAD_STATE
static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb)
#else
static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb)
#endif
{
    PyObject *local_type = NULL, *local_value, *local_tb = NULL;
#if CYTHON_FAST_THREAD_STATE
    PyObject *tmp_type, *tmp_value, *tmp_tb;
  #if PY_VERSION_HEX >= 0x030C00A6
    local_value = tstate->current_exception;
    tstate->current_exception = 0;
    if (likely(local_value)) {
        local_type = (PyObject*) Py_TYPE(local_value);
        Py_INCREF(local_type);
        local_tb = PyException_GetTraceback(local_value);
    }
  #else
    local_type = tstate->curexc_type;
    local_value = tstate->curexc_value;
    local_tb = tstate->curexc_traceback;
    tstate->curexc_type = 0;
    tstate->curexc_value = 0;
    tstate->curexc_traceback = 0;
  #endif
#else
    PyErr_Fetch(&local_type, &local_value, &local_tb);
#endif
    PyErr_NormalizeException(&local_type, &local_value, &local_tb);
#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6
    if (unlikely(tstate->current_exception))
#elif CYTHON_FAST_THREAD_STATE
    if (unlikely(tstate->curexc_type))
#else
    if (unlikely(PyErr_Occurred()))
#endif
        goto bad;
    #if PY_MAJOR_VERSION >= 3
    if (local_tb) {
        if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0))
            goto bad;
    }
    #endif
    Py_XINCREF(local_tb);
    Py_XINCREF(local_type);
    Py_XINCREF(local_value);
    *type = local_type;
    *value = local_value;
    *tb = local_tb;
#if CYTHON_FAST_THREAD_STATE
    #if CYTHON_USE_EXC_INFO_STACK
    {
        _PyErr_StackItem *exc_info = tstate->exc_info;
      #if PY_VERSION_HEX >= 0x030B00a4
        tmp_value = exc_info->exc_value;
        exc_info->exc_value = local_value;
        tmp_type = NULL;
        tmp_tb = NULL;
        Py_XDECREF(local_type);
        Py_XDECREF(local_tb);
      #else
        tmp_type = exc_info->exc_type;
        tmp_value = exc_info->exc_value;
        tmp_tb = exc_info->exc_traceback;
        exc_info->exc_type = local_type;
        exc_info->exc_value = local_value;
        exc_info->exc_traceback = local_tb;
      #endif
    }
    #else
    tmp_type = tstate->exc_type;
    tmp_value = tstate->exc_value;
    tmp_tb = tstate->exc_traceback;
    tstate->exc_type = local_type;
    tstate->exc_value = local_value;
    tstate->exc_traceback = local_tb;
    #endif
    Py_XDECREF(tmp_type);
    Py_XDECREF(tmp_value);
    Py_XDECREF(tmp_tb);
#else
    PyErr_SetExcInfo(local_type, local_value, local_tb);
#endif
    return 0;
bad:
    *type = 0;
    *value = 0;
    *tb = 0;
    Py_XDECREF(local_type);
    Py_XDECREF(local_value);
    Py_XDECREF(local_tb);
    return -1;
}

/* RaiseClosureNameError */
static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname) {
    PyErr_Format(PyExc_NameError, "free variable '%s' referenced before assignment in enclosing scope", varname);
}

/* FixUpExtensionType */
#if CYTHON_USE_TYPE_SPECS
static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) {
#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API
    CYTHON_UNUSED_VAR(spec);
    CYTHON_UNUSED_VAR(type);
#else
    const PyType_Slot *slot = spec->slots;
    while (slot && slot->slot && slot->slot != Py_tp_members)
        slot++;
    if (slot && slot->slot == Py_tp_members) {
        int changed = 0;
#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON)
        const
#endif
            PyMemberDef *memb = (PyMemberDef*) slot->pfunc;
        while (memb && memb->name) {
            if (memb->name[0] == '_' && memb->name[1] == '_') {
#if PY_VERSION_HEX < 0x030900b1
                if (strcmp(memb->name, "__weaklistoffset__") == 0) {
                    assert(memb->type == T_PYSSIZET);
                    assert(memb->flags == READONLY);
                    type->tp_weaklistoffset = memb->offset;
                    changed = 1;
                }
                else if (strcmp(memb->name, "__dictoffset__") == 0) {
                    assert(memb->type == T_PYSSIZET);
                    assert(memb->flags == READONLY);
                    type->tp_dictoffset = memb->offset;
                    changed = 1;
                }
#if CYTHON_METH_FASTCALL
                else if (strcmp(memb->name, "__vectorcalloffset__") == 0) {
                    assert(memb->type == T_PYSSIZET);
                    assert(memb->flags == READONLY);
#if PY_VERSION_HEX >= 0x030800b4
                    type->tp_vectorcall_offset = memb->offset;
#else
                    type->tp_print = (printfunc) memb->offset;
#endif
                    changed = 1;
                }
#endif
#else
                if ((0));
#endif
#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON
                else if (strcmp(memb->name, "__module__") == 0) {
                    PyObject *descr;
                    assert(memb->type == T_OBJECT);
                    assert(memb->flags == 0 || memb->flags == READONLY);
                    descr = PyDescr_NewMember(type, memb);
                    if (unlikely(!descr))
                        return -1;
                    if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) {
                        Py_DECREF(descr);
                        return -1;
                    }
                    Py_DECREF(descr);
                    changed = 1;
                }
#endif
            }
            memb++;
        }
        if (changed)
            PyType_Modified(type);
    }
#endif
    return 0;
}
#endif

/* FetchSharedCythonModule */
static PyObject *__Pyx_FetchSharedCythonABIModule(void) {
    return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME);
}

/* FetchCommonType */
static int __Pyx_VerifyCachedType(PyObject *cached_type,
                               const char *name,
                               Py_ssize_t basicsize,
                               Py_ssize_t expected_basicsize) {
    if (!PyType_Check(cached_type)) {
        PyErr_Format(PyExc_TypeError,
            "Shared Cython type %.200s is not a type object", name);
        return -1;
    }
    if (basicsize != expected_basicsize) {
        PyErr_Format(PyExc_TypeError,
            "Shared Cython type %.200s has the wrong size, try recompiling",
            name);
        return -1;
    }
    return 0;
}
#if !CYTHON_USE_TYPE_SPECS
static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) {
    PyObject* abi_module;
    const char* object_name;
    PyTypeObject *cached_type = NULL;
    abi_module = __Pyx_FetchSharedCythonABIModule();
    if (!abi_module) return NULL;
    object_name = strrchr(type->tp_name, '.');
    object_name = object_name ? object_name+1 : type->tp_name;
    cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name);
    if (cached_type) {
        if (__Pyx_VerifyCachedType(
              (PyObject *)cached_type,
              object_name,
              cached_type->tp_basicsize,
              type->tp_basicsize) < 0) {
            goto bad;
        }
        goto done;
    }
    if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad;
    PyErr_Clear();
    if (PyType_Ready(type) < 0) goto bad;
    if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0)
        goto bad;
    Py_INCREF(type);
    cached_type = type;
done:
    Py_DECREF(abi_module);
    return cached_type;
bad:
    Py_XDECREF(cached_type);
    cached_type = NULL;
    goto done;
}
#else
static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) {
    PyObject *abi_module, *cached_type = NULL;
    const char* object_name = strrchr(spec->name, '.');
    object_name = object_name ? object_name+1 : spec->name;
    abi_module = __Pyx_FetchSharedCythonABIModule();
    if (!abi_module) return NULL;
    cached_type = PyObject_GetAttrString(abi_module, object_name);
    if (cached_type) {
        Py_ssize_t basicsize;
#if CYTHON_COMPILING_IN_LIMITED_API
        PyObject *py_basicsize;
        py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__");
        if (unlikely(!py_basicsize)) goto bad;
        basicsize = PyLong_AsSsize_t(py_basicsize);
        Py_DECREF(py_basicsize);
        py_basicsize = 0;
        if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
#else
        basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1;
#endif
        if (__Pyx_VerifyCachedType(
              cached_type,
              object_name,
              basicsize,
              spec->basicsize) < 0) {
            goto bad;
        }
        goto done;
    }
    if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad;
    PyErr_Clear();
    CYTHON_UNUSED_VAR(module);
    cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases);
    if (unlikely(!cached_type)) goto bad;
    if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad;
    if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad;
done:
    Py_DECREF(abi_module);
    assert(cached_type == NULL || PyType_Check(cached_type));
    return (PyTypeObject *) cached_type;
bad:
    Py_XDECREF(cached_type);
    cached_type = NULL;
    goto done;
}
#endif

/* PyVectorcallFastCallDict */
#if CYTHON_METH_FASTCALL
static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw)
{
    PyObject *res = NULL;
    PyObject *kwnames;
    PyObject **newargs;
    PyObject **kwvalues;
    Py_ssize_t i, pos;
    size_t j;
    PyObject *key, *value;
    unsigned long keys_are_strings;
    Py_ssize_t nkw = PyDict_GET_SIZE(kw);
    newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0]));
    if (unlikely(newargs == NULL)) {
        PyErr_NoMemory();
        return NULL;
    }
    for (j = 0; j < nargs; j++) newargs[j] = args[j];
    kwnames = PyTuple_New(nkw);
    if (unlikely(kwnames == NULL)) {
        PyMem_Free(newargs);
        return NULL;
    }
    kwvalues = newargs + nargs;
    pos = i = 0;
    keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS;
    while (PyDict_Next(kw, &pos, &key, &value)) {
        keys_are_strings &= Py_TYPE(key)->tp_flags;
        Py_INCREF(key);
        Py_INCREF(value);
        PyTuple_SET_ITEM(kwnames, i, key);
        kwvalues[i] = value;
        i++;
    }
    if (unlikely(!keys_are_strings)) {
        PyErr_SetString(PyExc_TypeError, "keywords must be strings");
        goto cleanup;
    }
    res = vc(func, newargs, nargs, kwnames);
cleanup:
    Py_DECREF(kwnames);
    for (i = 0; i < nkw; i++)
        Py_DECREF(kwvalues[i]);
    PyMem_Free(newargs);
    return res;
}
static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw)
{
    if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) {
        return vc(func, args, nargs, NULL);
    }
    return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw);
}
#endif

/* CythonFunctionShared */
#if CYTHON_COMPILING_IN_LIMITED_API
static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) {
    if (__Pyx_CyFunction_Check(func)) {
        return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc;
    } else if (PyCFunction_Check(func)) {
        return PyCFunction_GetFunction(func) == (PyCFunction) cfunc;
    }
    return 0;
}
#else
static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) {
    return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc;
}
#endif
static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) {
#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API
    __Pyx_Py_XDECREF_SET(
        __Pyx_CyFunction_GetClassObj(f),
            ((classobj) ? __Pyx_NewRef(classobj) : NULL));
#else
    __Pyx_Py_XDECREF_SET(
        ((PyCMethodObject *) (f))->mm_class,
        (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL));
#endif
}
static PyObject *
__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure)
{
    CYTHON_UNUSED_VAR(closure);
    if (unlikely(op->func_doc == NULL)) {
#if CYTHON_COMPILING_IN_LIMITED_API
        op->func_doc = PyObject_GetAttrString(op->func, "__doc__");
        if (unlikely(!op->func_doc)) return NULL;
#else
        if (((PyCFunctionObject*)op)->m_ml->ml_doc) {
#if PY_MAJOR_VERSION >= 3
            op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc);
#else
            op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc);
#endif
            if (unlikely(op->func_doc == NULL))
                return NULL;
        } else {
            Py_INCREF(Py_None);
            return Py_None;
        }
#endif
    }
    Py_INCREF(op->func_doc);
    return op->func_doc;
}
static int
__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context)
{
    CYTHON_UNUSED_VAR(context);
    if (value == NULL) {
        value = Py_None;
    }
    Py_INCREF(value);
    __Pyx_Py_XDECREF_SET(op->func_doc, value);
    return 0;
}
static PyObject *
__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context)
{
    CYTHON_UNUSED_VAR(context);
    if (unlikely(op->func_name == NULL)) {
#if CYTHON_COMPILING_IN_LIMITED_API
        op->func_name = PyObject_GetAttrString(op->func, "__name__");
#elif PY_MAJOR_VERSION >= 3
        op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name);
#else
        op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name);
#endif
        if (unlikely(op->func_name == NULL))
            return NULL;
    }
    Py_INCREF(op->func_name);
    return op->func_name;
}
static int
__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context)
{
    CYTHON_UNUSED_VAR(context);
#if PY_MAJOR_VERSION >= 3
    if (unlikely(value == NULL || !PyUnicode_Check(value)))
#else
    if (unlikely(value == NULL || !PyString_Check(value)))
#endif
    {
        PyErr_SetString(PyExc_TypeError,
                        "__name__ must be set to a string object");
        return -1;
    }
    Py_INCREF(value);
    __Pyx_Py_XDECREF_SET(op->func_name, value);
    return 0;
}
static PyObject *
__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context)
{
    CYTHON_UNUSED_VAR(context);
    Py_INCREF(op->func_qualname);
    return op->func_qualname;
}
static int
__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context)
{
    CYTHON_UNUSED_VAR(context);
#if PY_MAJOR_VERSION >= 3
    if (unlikely(value == NULL || !PyUnicode_Check(value)))
#else
    if (unlikely(value == NULL || !PyString_Check(value)))
#endif
    {
        PyErr_SetString(PyExc_TypeError,
                        "__qualname__ must be set to a string object");
        return -1;
    }
    Py_INCREF(value);
    __Pyx_Py_XDECREF_SET(op->func_qualname, value);
    return 0;
}
static PyObject *
__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context)
{
    CYTHON_UNUSED_VAR(context);
    if (unlikely(op->func_dict == NULL)) {
        op->func_dict = PyDict_New();
        if (unlikely(op->func_dict == NULL))
            return NULL;
    }
    Py_INCREF(op->func_dict);
    return op->func_dict;
}
static int
__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context)
{
    CYTHON_UNUSED_VAR(context);
    if (unlikely(value == NULL)) {
        PyErr_SetString(PyExc_TypeError,
               "function's dictionary may not be deleted");
        return -1;
    }
    if (unlikely(!PyDict_Check(value))) {
        PyErr_SetString(PyExc_TypeError,
               "setting function's dictionary to a non-dict");
        return -1;
    }
    Py_INCREF(value);
    __Pyx_Py_XDECREF_SET(op->func_dict, value);
    return 0;
}
static PyObject *
__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context)
{
    CYTHON_UNUSED_VAR(context);
    Py_INCREF(op->func_globals);
    return op->func_globals;
}
static PyObject *
__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context)
{
    CYTHON_UNUSED_VAR(op);
    CYTHON_UNUSED_VAR(context);
    Py_INCREF(Py_None);
    return Py_None;
}
static PyObject *
__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context)
{
    PyObject* result = (op->func_code) ? op->func_code : Py_None;
    CYTHON_UNUSED_VAR(context);
    Py_INCREF(result);
    return result;
}
static int
__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) {
    int result = 0;
    PyObject *res = op->defaults_getter((PyObject *) op);
    if (unlikely(!res))
        return -1;
    #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
    op->defaults_tuple = PyTuple_GET_ITEM(res, 0);
    Py_INCREF(op->defaults_tuple);
    op->defaults_kwdict = PyTuple_GET_ITEM(res, 1);
    Py_INCREF(op->defaults_kwdict);
    #else
    op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0);
    if (unlikely(!op->defaults_tuple)) result = -1;
    else {
        op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1);
        if (unlikely(!op->defaults_kwdict)) result = -1;
    }
    #endif
    Py_DECREF(res);
    return result;
}
static int
__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) {
    CYTHON_UNUSED_VAR(context);
    if (!value) {
        value = Py_None;
    } else if (unlikely(value != Py_None && !PyTuple_Check(value))) {
        PyErr_SetString(PyExc_TypeError,
                        "__defaults__ must be set to a tuple object");
        return -1;
    }
    PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not "
                 "currently affect the values used in function calls", 1);
    Py_INCREF(value);
    __Pyx_Py_XDECREF_SET(op->defaults_tuple, value);
    return 0;
}
static PyObject *
__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) {
    PyObject* result = op->defaults_tuple;
    CYTHON_UNUSED_VAR(context);
    if (unlikely(!result)) {
        if (op->defaults_getter) {
            if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL;
            result = op->defaults_tuple;
        } else {
            result = Py_None;
        }
    }
    Py_INCREF(result);
    return result;
}
static int
__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) {
    CYTHON_UNUSED_VAR(context);
    if (!value) {
        value = Py_None;
    } else if (unlikely(value != Py_None && !PyDict_Check(value))) {
        PyErr_SetString(PyExc_TypeError,
                        "__kwdefaults__ must be set to a dict object");
        return -1;
    }
    PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not "
                 "currently affect the values used in function calls", 1);
    Py_INCREF(value);
    __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value);
    return 0;
}
static PyObject *
__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) {
    PyObject* result = op->defaults_kwdict;
    CYTHON_UNUSED_VAR(context);
    if (unlikely(!result)) {
        if (op->defaults_getter) {
            if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL;
            result = op->defaults_kwdict;
        } else {
            result = Py_None;
        }
    }
    Py_INCREF(result);
    return result;
}
static int
__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) {
    CYTHON_UNUSED_VAR(context);
    if (!value || value == Py_None) {
        value = NULL;
    } else if (unlikely(!PyDict_Check(value))) {
        PyErr_SetString(PyExc_TypeError,
                        "__annotations__ must be set to a dict object");
        return -1;
    }
    Py_XINCREF(value);
    __Pyx_Py_XDECREF_SET(op->func_annotations, value);
    return 0;
}
static PyObject *
__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) {
    PyObject* result = op->func_annotations;
    CYTHON_UNUSED_VAR(context);
    if (unlikely(!result)) {
        result = PyDict_New();
        if (unlikely(!result)) return NULL;
        op->func_annotations = result;
    }
    Py_INCREF(result);
    return result;
}
static PyObject *
__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) {
    int is_coroutine;
    CYTHON_UNUSED_VAR(context);
    if (op->func_is_coroutine) {
        return __Pyx_NewRef(op->func_is_coroutine);
    }
    is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE;
#if PY_VERSION_HEX >= 0x03050000
    if (is_coroutine) {
        PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine;
        fromlist = PyList_New(1);
        if (unlikely(!fromlist)) return NULL;
        Py_INCREF(marker);
#if CYTHON_ASSUME_SAFE_MACROS
        PyList_SET_ITEM(fromlist, 0, marker);
#else
        if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) {
            Py_DECREF(marker);
            Py_DECREF(fromlist);
            return NULL;
        }
#endif
        module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0);
        Py_DECREF(fromlist);
        if (unlikely(!module)) goto ignore;
        op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker);
        Py_DECREF(module);
        if (likely(op->func_is_coroutine)) {
            return __Pyx_NewRef(op->func_is_coroutine);
        }
ignore:
        PyErr_Clear();
    }
#endif
    op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine);
    return __Pyx_NewRef(op->func_is_coroutine);
}
#if CYTHON_COMPILING_IN_LIMITED_API
static PyObject *
__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) {
    CYTHON_UNUSED_VAR(context);
    return PyObject_GetAttrString(op->func, "__module__");
}
static int
__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) {
    CYTHON_UNUSED_VAR(context);
    return PyObject_SetAttrString(op->func, "__module__", value);
}
#endif
static PyGetSetDef __pyx_CyFunction_getsets[] = {
    {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0},
    {(char *) "__doc__",  (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0},
    {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0},
    {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0},
    {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0},
    {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0},
    {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0},
    {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0},
    {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0},
    {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0},
    {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0},
    {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0},
    {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0},
    {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0},
    {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0},
    {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0},
    {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0},
    {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0},
#if CYTHON_COMPILING_IN_LIMITED_API
    {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0},
#endif
    {0, 0, 0, 0, 0}
};
static PyMemberDef __pyx_CyFunction_members[] = {
#if !CYTHON_COMPILING_IN_LIMITED_API
    {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0},
#endif
#if CYTHON_USE_TYPE_SPECS
    {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0},
#if CYTHON_METH_FASTCALL
#if CYTHON_BACKPORT_VECTORCALL
    {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0},
#else
#if !CYTHON_COMPILING_IN_LIMITED_API
    {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0},
#endif
#endif
#endif
#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API
    {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0},
#else
    {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0},
#endif
#endif
    {0, 0, 0,  0, 0}
};
static PyObject *
__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args)
{
    CYTHON_UNUSED_VAR(args);
#if PY_MAJOR_VERSION >= 3
    Py_INCREF(m->func_qualname);
    return m->func_qualname;
#else
    return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name);
#endif
}
static PyMethodDef __pyx_CyFunction_methods[] = {
    {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0},
    {0, 0, 0, 0}
};
#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API
#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist)
#else
#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist)
#endif
static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname,
                                       PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) {
#if !CYTHON_COMPILING_IN_LIMITED_API
    PyCFunctionObject *cf = (PyCFunctionObject*) op;
#endif
    if (unlikely(op == NULL))
        return NULL;
#if CYTHON_COMPILING_IN_LIMITED_API
    op->func = PyCFunction_NewEx(ml, (PyObject*)op, module);
    if (unlikely(!op->func)) return NULL;
#endif
    op->flags = flags;
    __Pyx_CyFunction_weakreflist(op) = NULL;
#if !CYTHON_COMPILING_IN_LIMITED_API
    cf->m_ml = ml;
    cf->m_self = (PyObject *) op;
#endif
    Py_XINCREF(closure);
    op->func_closure = closure;
#if !CYTHON_COMPILING_IN_LIMITED_API
    Py_XINCREF(module);
    cf->m_module = module;
#endif
    op->func_dict = NULL;
    op->func_name = NULL;
    Py_INCREF(qualname);
    op->func_qualname = qualname;
    op->func_doc = NULL;
#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API
    op->func_classobj = NULL;
#else
    ((PyCMethodObject*)op)->mm_class = NULL;
#endif
    op->func_globals = globals;
    Py_INCREF(op->func_globals);
    Py_XINCREF(code);
    op->func_code = code;
    op->defaults_pyobjects = 0;
    op->defaults_size = 0;
    op->defaults = NULL;
    op->defaults_tuple = NULL;
    op->defaults_kwdict = NULL;
    op->defaults_getter = NULL;
    op->func_annotations = NULL;
    op->func_is_coroutine = NULL;
#if CYTHON_METH_FASTCALL
    switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) {
    case METH_NOARGS:
        __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS;
        break;
    case METH_O:
        __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O;
        break;
    case METH_METHOD | METH_FASTCALL | METH_KEYWORDS:
        __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD;
        break;
    case METH_FASTCALL | METH_KEYWORDS:
        __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS;
        break;
    case METH_VARARGS | METH_KEYWORDS:
        __Pyx_CyFunction_func_vectorcall(op) = NULL;
        break;
    default:
        PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction");
        Py_DECREF(op);
        return NULL;
    }
#endif
    return (PyObject *) op;
}
static int
__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m)
{
    Py_CLEAR(m->func_closure);
#if CYTHON_COMPILING_IN_LIMITED_API
    Py_CLEAR(m->func);
#else
    Py_CLEAR(((PyCFunctionObject*)m)->m_module);
#endif
    Py_CLEAR(m->func_dict);
    Py_CLEAR(m->func_name);
    Py_CLEAR(m->func_qualname);
    Py_CLEAR(m->func_doc);
    Py_CLEAR(m->func_globals);
    Py_CLEAR(m->func_code);
#if !CYTHON_COMPILING_IN_LIMITED_API
#if PY_VERSION_HEX < 0x030900B1
    Py_CLEAR(__Pyx_CyFunction_GetClassObj(m));
#else
    {
        PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class;
        ((PyCMethodObject *) (m))->mm_class = NULL;
        Py_XDECREF(cls);
    }
#endif
#endif
    Py_CLEAR(m->defaults_tuple);
    Py_CLEAR(m->defaults_kwdict);
    Py_CLEAR(m->func_annotations);
    Py_CLEAR(m->func_is_coroutine);
    if (m->defaults) {
        PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m);
        int i;
        for (i = 0; i < m->defaults_pyobjects; i++)
            Py_XDECREF(pydefaults[i]);
        PyObject_Free(m->defaults);
        m->defaults = NULL;
    }
    return 0;
}
static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m)
{
    if (__Pyx_CyFunction_weakreflist(m) != NULL)
        PyObject_ClearWeakRefs((PyObject *) m);
    __Pyx_CyFunction_clear(m);
    __Pyx_PyHeapTypeObject_GC_Del(m);
}
static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m)
{
    PyObject_GC_UnTrack(m);
    __Pyx__CyFunction_dealloc(m);
}
static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg)
{
    Py_VISIT(m->func_closure);
#if CYTHON_COMPILING_IN_LIMITED_API
    Py_VISIT(m->func);
#else
    Py_VISIT(((PyCFunctionObject*)m)->m_module);
#endif
    Py_VISIT(m->func_dict);
    Py_VISIT(m->func_name);
    Py_VISIT(m->func_qualname);
    Py_VISIT(m->func_doc);
    Py_VISIT(m->func_globals);
    Py_VISIT(m->func_code);
#if !CYTHON_COMPILING_IN_LIMITED_API
    Py_VISIT(__Pyx_CyFunction_GetClassObj(m));
#endif
    Py_VISIT(m->defaults_tuple);
    Py_VISIT(m->defaults_kwdict);
    Py_VISIT(m->func_is_coroutine);
    if (m->defaults) {
        PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m);
        int i;
        for (i = 0; i < m->defaults_pyobjects; i++)
            Py_VISIT(pydefaults[i]);
    }
    return 0;
}
static PyObject*
__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op)
{
#if PY_MAJOR_VERSION >= 3
    return PyUnicode_FromFormat("<cyfunction %U at %p>",
                                op->func_qualname, (void *)op);
#else
    return PyString_FromFormat("<cyfunction %s at %p>",
                               PyString_AsString(op->func_qualname), (void *)op);
#endif
}
static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) {
#if CYTHON_COMPILING_IN_LIMITED_API
    PyObject *f = ((__pyx_CyFunctionObject*)func)->func;
    PyObject *py_name = NULL;
    PyCFunction meth;
    int flags;
    meth = PyCFunction_GetFunction(f);
    if (unlikely(!meth)) return NULL;
    flags = PyCFunction_GetFlags(f);
    if (unlikely(flags < 0)) return NULL;
#else
    PyCFunctionObject* f = (PyCFunctionObject*)func;
    PyCFunction meth = f->m_ml->ml_meth;
    int flags = f->m_ml->ml_flags;
#endif
    Py_ssize_t size;
    switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) {
    case METH_VARARGS:
        if (likely(kw == NULL || PyDict_Size(kw) == 0))
            return (*meth)(self, arg);
        break;
    case METH_VARARGS | METH_KEYWORDS:
        return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw);
    case METH_NOARGS:
        if (likely(kw == NULL || PyDict_Size(kw) == 0)) {
#if CYTHON_ASSUME_SAFE_MACROS
            size = PyTuple_GET_SIZE(arg);
#else
            size = PyTuple_Size(arg);
            if (unlikely(size < 0)) return NULL;
#endif
            if (likely(size == 0))
                return (*meth)(self, NULL);
#if CYTHON_COMPILING_IN_LIMITED_API
            py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL);
            if (!py_name) return NULL;
            PyErr_Format(PyExc_TypeError,
                "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)",
                py_name, size);
            Py_DECREF(py_name);
#else
            PyErr_Format(PyExc_TypeError,
                "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)",
                f->m_ml->ml_name, size);
#endif
            return NULL;
        }
        break;
    case METH_O:
        if (likely(kw == NULL || PyDict_Size(kw) == 0)) {
#if CYTHON_ASSUME_SAFE_MACROS
            size = PyTuple_GET_SIZE(arg);
#else
            size = PyTuple_Size(arg);
            if (unlikely(size < 0)) return NULL;
#endif
            if (likely(size == 1)) {
                PyObject *result, *arg0;
                #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
                arg0 = PyTuple_GET_ITEM(arg, 0);
                #else
                arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL;
                #endif
                result = (*meth)(self, arg0);
                #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS)
                Py_DECREF(arg0);
                #endif
                return result;
            }
#if CYTHON_COMPILING_IN_LIMITED_API
            py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL);
            if (!py_name) return NULL;
            PyErr_Format(PyExc_TypeError,
                "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)",
                py_name, size);
            Py_DECREF(py_name);
#else
            PyErr_Format(PyExc_TypeError,
                "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)",
                f->m_ml->ml_name, size);
#endif
            return NULL;
        }
        break;
    default:
        PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction");
        return NULL;
    }
#if CYTHON_COMPILING_IN_LIMITED_API
    py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL);
    if (!py_name) return NULL;
    PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments",
                 py_name);
    Py_DECREF(py_name);
#else
    PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments",
                 f->m_ml->ml_name);
#endif
    return NULL;
}
static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) {
    PyObject *self, *result;
#if CYTHON_COMPILING_IN_LIMITED_API
    self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func);
    if (unlikely(!self) && PyErr_Occurred()) return NULL;
#else
    self = ((PyCFunctionObject*)func)->m_self;
#endif
    result = __Pyx_CyFunction_CallMethod(func, self, arg, kw);
    return result;
}
static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) {
    PyObject *result;
    __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func;
#if CYTHON_METH_FASTCALL
     __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc);
    if (vc) {
#if CYTHON_ASSUME_SAFE_MACROS
        return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw);
#else
        (void) &__Pyx_PyVectorcall_FastCallDict;
        return PyVectorcall_Call(func, args, kw);
#endif
    }
#endif
    if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) {
        Py_ssize_t argc;
        PyObject *new_args;
        PyObject *self;
#if CYTHON_ASSUME_SAFE_MACROS
        argc = PyTuple_GET_SIZE(args);
#else
        argc = PyTuple_Size(args);
        if (unlikely(!argc) < 0) return NULL;
#endif
        new_args = PyTuple_GetSlice(args, 1, argc);
        if (unlikely(!new_args))
            return NULL;
        self = PyTuple_GetItem(args, 0);
        if (unlikely(!self)) {
            Py_DECREF(new_args);
#if PY_MAJOR_VERSION > 2
            PyErr_Format(PyExc_TypeError,
                         "unbound method %.200S() needs an argument",
                         cyfunc->func_qualname);
#else
            PyErr_SetString(PyExc_TypeError,
                            "unbound method needs an argument");
#endif
            return NULL;
        }
        result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw);
        Py_DECREF(new_args);
    } else {
        result = __Pyx_CyFunction_Call(func, args, kw);
    }
    return result;
}
#if CYTHON_METH_FASTCALL
static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames)
{
    int ret = 0;
    if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) {
        if (unlikely(nargs < 1)) {
            PyErr_Format(PyExc_TypeError, "%.200s() needs an argument",
                         ((PyCFunctionObject*)cyfunc)->m_ml->ml_name);
            return -1;
        }
        ret = 1;
    }
    if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) {
        PyErr_Format(PyExc_TypeError,
                     "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name);
        return -1;
    }
    return ret;
}
static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames)
{
    __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func;
    PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml;
#if CYTHON_BACKPORT_VECTORCALL
    Py_ssize_t nargs = (Py_ssize_t)nargsf;
#else
    Py_ssize_t nargs = PyVectorcall_NARGS(nargsf);
#endif
    PyObject *self;
    switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) {
    case 1:
        self = args[0];
        args += 1;
        nargs -= 1;
        break;
    case 0:
        self = ((PyCFunctionObject*)cyfunc)->m_self;
        break;
    default:
        return NULL;
    }
    if (unlikely(nargs != 0)) {
        PyErr_Format(PyExc_TypeError,
            "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)",
            def->ml_name, nargs);
        return NULL;
    }
    return def->ml_meth(self, NULL);
}
static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames)
{
    __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func;
    PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml;
#if CYTHON_BACKPORT_VECTORCALL
    Py_ssize_t nargs = (Py_ssize_t)nargsf;
#else
    Py_ssize_t nargs = PyVectorcall_NARGS(nargsf);
#endif
    PyObject *self;
    switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) {
    case 1:
        self = args[0];
        args += 1;
        nargs -= 1;
        break;
    case 0:
        self = ((PyCFunctionObject*)cyfunc)->m_self;
        break;
    default:
        return NULL;
    }
    if (unlikely(nargs != 1)) {
        PyErr_Format(PyExc_TypeError,
            "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)",
            def->ml_name, nargs);
        return NULL;
    }
    return def->ml_meth(self, args[0]);
}
static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames)
{
    __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func;
    PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml;
#if CYTHON_BACKPORT_VECTORCALL
    Py_ssize_t nargs = (Py_ssize_t)nargsf;
#else
    Py_ssize_t nargs = PyVectorcall_NARGS(nargsf);
#endif
    PyObject *self;
    switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) {
    case 1:
        self = args[0];
        args += 1;
        nargs -= 1;
        break;
    case 0:
        self = ((PyCFunctionObject*)cyfunc)->m_self;
        break;
    default:
        return NULL;
    }
    return ((__Pyx_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames);
}
static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames)
{
    __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func;
    PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml;
    PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc);
#if CYTHON_BACKPORT_VECTORCALL
    Py_ssize_t nargs = (Py_ssize_t)nargsf;
#else
    Py_ssize_t nargs = PyVectorcall_NARGS(nargsf);
#endif
    PyObject *self;
    switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) {
    case 1:
        self = args[0];
        args += 1;
        nargs -= 1;
        break;
    case 0:
        self = ((PyCFunctionObject*)cyfunc)->m_self;
        break;
    default:
        return NULL;
    }
    return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames);
}
#endif
#if CYTHON_USE_TYPE_SPECS
static PyType_Slot __pyx_CyFunctionType_slots[] = {
    {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc},
    {Py_tp_repr, (void *)__Pyx_CyFunction_repr},
    {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod},
    {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse},
    {Py_tp_clear, (void *)__Pyx_CyFunction_clear},
    {Py_tp_methods, (void *)__pyx_CyFunction_methods},
    {Py_tp_members, (void *)__pyx_CyFunction_members},
    {Py_tp_getset, (void *)__pyx_CyFunction_getsets},
    {Py_tp_descr_get, (void *)__Pyx_PyMethod_New},
    {0, 0},
};
static PyType_Spec __pyx_CyFunctionType_spec = {
    __PYX_TYPE_MODULE_PREFIX "cython_function_or_method",
    sizeof(__pyx_CyFunctionObject),
    0,
#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR
    Py_TPFLAGS_METHOD_DESCRIPTOR |
#endif
#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL)
    _Py_TPFLAGS_HAVE_VECTORCALL |
#endif
    Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE,
    __pyx_CyFunctionType_slots
};
#else
static PyTypeObject __pyx_CyFunctionType_type = {
    PyVarObject_HEAD_INIT(0, 0)
    __PYX_TYPE_MODULE_PREFIX "cython_function_or_method",
    sizeof(__pyx_CyFunctionObject),
    0,
    (destructor) __Pyx_CyFunction_dealloc,
#if !CYTHON_METH_FASTCALL
    0,
#elif CYTHON_BACKPORT_VECTORCALL
    (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall),
#else
    offsetof(PyCFunctionObject, vectorcall),
#endif
    0,
    0,
#if PY_MAJOR_VERSION < 3
    0,
#else
    0,
#endif
    (reprfunc) __Pyx_CyFunction_repr,
    0,
    0,
    0,
    0,
    __Pyx_CyFunction_CallAsMethod,
    0,
    0,
    0,
    0,
#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR
    Py_TPFLAGS_METHOD_DESCRIPTOR |
#endif
#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL
    _Py_TPFLAGS_HAVE_VECTORCALL |
#endif
    Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE,
    0,
    (traverseproc) __Pyx_CyFunction_traverse,
    (inquiry) __Pyx_CyFunction_clear,
    0,
#if PY_VERSION_HEX < 0x030500A0
    offsetof(__pyx_CyFunctionObject, func_weakreflist),
#else
    offsetof(PyCFunctionObject, m_weakreflist),
#endif
    0,
    0,
    __pyx_CyFunction_methods,
    __pyx_CyFunction_members,
    __pyx_CyFunction_getsets,
    0,
    0,
    __Pyx_PyMethod_New,
    0,
    offsetof(__pyx_CyFunctionObject, func_dict),
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
#if PY_VERSION_HEX >= 0x030400a1
    0,
#endif
#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800)
    0,
#endif
#if __PYX_NEED_TP_PRINT_SLOT
    0,
#endif
#if PY_VERSION_HEX >= 0x030C0000
    0,
#endif
#if PY_VERSION_HEX >= 0x030d00A4
    0,
#endif
#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000
    0,
#endif
};
#endif
static int __pyx_CyFunction_init(PyObject *module) {
#if CYTHON_USE_TYPE_SPECS
    __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL);
#else
    CYTHON_UNUSED_VAR(module);
    __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type);
#endif
    if (unlikely(__pyx_CyFunctionType == NULL)) {
        return -1;
    }
    return 0;
}
static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) {
    __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func;
    m->defaults = PyObject_Malloc(size);
    if (unlikely(!m->defaults))
        return PyErr_NoMemory();
    memset(m->defaults, 0, size);
    m->defaults_pyobjects = pyobjects;
    m->defaults_size = size;
    return m->defaults;
}
static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) {
    __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func;
    m->defaults_tuple = tuple;
    Py_INCREF(tuple);
}
static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) {
    __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func;
    m->defaults_kwdict = dict;
    Py_INCREF(dict);
}
static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) {
    __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func;
    m->func_annotations = dict;
    Py_INCREF(dict);
}

/* CythonFunction */
static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname,
                                      PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) {
    PyObject *op = __Pyx_CyFunction_Init(
        PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType),
        ml, flags, qualname, closure, module, globals, code
    );
    if (likely(op)) {
        PyObject_GC_Track(op);
    }
    return op;
}

/* FastTypeChecks */
#if CYTHON_COMPILING_IN_CPYTHON
static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) {
    while (a) {
        a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*);
        if (a == b)
            return 1;
    }
    return b == &PyBaseObject_Type;
}
static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) {
    PyObject *mro;
    if (a == b) return 1;
    mro = a->tp_mro;
    if (likely(mro)) {
        Py_ssize_t i, n;
        n = PyTuple_GET_SIZE(mro);
        for (i = 0; i < n; i++) {
            if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b)
                return 1;
        }
        return 0;
    }
    return __Pyx_InBases(a, b);
}
static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) {
    PyObject *mro;
    if (cls == a || cls == b) return 1;
    mro = cls->tp_mro;
    if (likely(mro)) {
        Py_ssize_t i, n;
        n = PyTuple_GET_SIZE(mro);
        for (i = 0; i < n; i++) {
            PyObject *base = PyTuple_GET_ITEM(mro, i);
            if (base == (PyObject *)a || base == (PyObject *)b)
                return 1;
        }
        return 0;
    }
    return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b);
}
#if PY_MAJOR_VERSION == 2
static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) {
    PyObject *exception, *value, *tb;
    int res;
    __Pyx_PyThreadState_declare
    __Pyx_PyThreadState_assign
    __Pyx_ErrFetch(&exception, &value, &tb);
    res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0;
    if (unlikely(res == -1)) {
        PyErr_WriteUnraisable(err);
        res = 0;
    }
    if (!res) {
        res = PyObject_IsSubclass(err, exc_type2);
        if (unlikely(res == -1)) {
            PyErr_WriteUnraisable(err);
            res = 0;
        }
    }
    __Pyx_ErrRestore(exception, value, tb);
    return res;
}
#else
static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) {
    if (exc_type1) {
        return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2);
    } else {
        return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2);
    }
}
#endif
static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) {
    Py_ssize_t i, n;
    assert(PyExceptionClass_Check(exc_type));
    n = PyTuple_GET_SIZE(tuple);
#if PY_MAJOR_VERSION >= 3
    for (i=0; i<n; i++) {
        if (exc_type == PyTuple_GET_ITEM(tuple, i)) return 1;
    }
#endif
    for (i=0; i<n; i++) {
        PyObject *t = PyTuple_GET_ITEM(tuple, i);
        #if PY_MAJOR_VERSION < 3
        if (likely(exc_type == t)) return 1;
        #endif
        if (likely(PyExceptionClass_Check(t))) {
            if (__Pyx_inner_PyErr_GivenExceptionMatches2(exc_type, NULL, t)) return 1;
        } else {
        }
    }
    return 0;
}
static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject* exc_type) {
    if (likely(err == exc_type)) return 1;
    if (likely(PyExceptionClass_Check(err))) {
        if (likely(PyExceptionClass_Check(exc_type))) {
            return __Pyx_inner_PyErr_GivenExceptionMatches2(err, NULL, exc_type);
        } else if (likely(PyTuple_Check(exc_type))) {
            return __Pyx_PyErr_GivenExceptionMatchesTuple(err, exc_type);
        } else {
        }
    }
    return PyErr_GivenExceptionMatches(err, exc_type);
}
static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *exc_type1, PyObject *exc_type2) {
    assert(PyExceptionClass_Check(exc_type1));
    assert(PyExceptionClass_Check(exc_type2));
    if (likely(err == exc_type1 || err == exc_type2)) return 1;
    if (likely(PyExceptionClass_Check(err))) {
        return __Pyx_inner_PyErr_GivenExceptionMatches2(err, exc_type1, exc_type2);
    }
    return (PyErr_GivenExceptionMatches(err, exc_type1) || PyErr_GivenExceptionMatches(err, exc_type2));
}
#endif

/* SwapException */
#if CYTHON_FAST_THREAD_STATE
static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) {
    PyObject *tmp_type, *tmp_value, *tmp_tb;
  #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4
    _PyErr_StackItem *exc_info = tstate->exc_info;
    tmp_value = exc_info->exc_value;
    exc_info->exc_value = *value;
    if (tmp_value == NULL || tmp_value == Py_None) {
        Py_XDECREF(tmp_value);
        tmp_value = NULL;
        tmp_type = NULL;
        tmp_tb = NULL;
    } else {
        tmp_type = (PyObject*) Py_TYPE(tmp_value);
        Py_INCREF(tmp_type);
        #if CYTHON_COMPILING_IN_CPYTHON
        tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback;
        Py_XINCREF(tmp_tb);
        #else
        tmp_tb = PyException_GetTraceback(tmp_value);
        #endif
    }
  #elif CYTHON_USE_EXC_INFO_STACK
    _PyErr_StackItem *exc_info = tstate->exc_info;
    tmp_type = exc_info->exc_type;
    tmp_value = exc_info->exc_value;
    tmp_tb = exc_info->exc_traceback;
    exc_info->exc_type = *type;
    exc_info->exc_value = *value;
    exc_info->exc_traceback = *tb;
  #else
    tmp_type = tstate->exc_type;
    tmp_value = tstate->exc_value;
    tmp_tb = tstate->exc_traceback;
    tstate->exc_type = *type;
    tstate->exc_value = *value;
    tstate->exc_traceback = *tb;
  #endif
    *type = tmp_type;
    *value = tmp_value;
    *tb = tmp_tb;
}
#else
static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) {
    PyObject *tmp_type, *tmp_value, *tmp_tb;
    PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb);
    PyErr_SetExcInfo(*type, *value, *tb);
    *type = tmp_type;
    *value = tmp_value;
    *tb = tmp_tb;
}
#endif

/* CIntToDigits */
static const char DIGIT_PAIRS_10[2*10*10+1] = {
    "00010203040506070809"
    "10111213141516171819"
    "20212223242526272829"
    "30313233343536373839"
    "40414243444546474849"
    "50515253545556575859"
    "60616263646566676869"
    "70717273747576777879"
    "80818283848586878889"
    "90919293949596979899"
};
static const char DIGIT_PAIRS_8[2*8*8+1] = {
    "0001020304050607"
    "1011121314151617"
    "2021222324252627"
    "3031323334353637"
    "4041424344454647"
    "5051525354555657"
    "6061626364656667"
    "7071727374757677"
};
static const char DIGITS_HEX[2*16+1] = {
    "0123456789abcdef"
    "0123456789ABCDEF"
};

/* BuildPyUnicode */
static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength,
                                                int prepend_sign, char padding_char) {
    PyObject *uval;
    Py_ssize_t uoffset = ulength - clength;
#if CYTHON_USE_UNICODE_INTERNALS
    Py_ssize_t i;
#if CYTHON_PEP393_ENABLED
    void *udata;
    uval = PyUnicode_New(ulength, 127);
    if (unlikely(!uval)) return NULL;
    udata = PyUnicode_DATA(uval);
#else
    Py_UNICODE *udata;
    uval = PyUnicode_FromUnicode(NULL, ulength);
    if (unlikely(!uval)) return NULL;
    udata = PyUnicode_AS_UNICODE(uval);
#endif
    if (uoffset > 0) {
        i = 0;
        if (prepend_sign) {
            __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-');
            i++;
        }
        for (; i < uoffset; i++) {
            __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char);
        }
    }
    for (i=0; i < clength; i++) {
        __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]);
    }
#else
    {
        PyObject *sign = NULL, *padding = NULL;
        uval = NULL;
        if (uoffset > 0) {
            prepend_sign = !!prepend_sign;
            if (uoffset > prepend_sign) {
                padding = PyUnicode_FromOrdinal(padding_char);
                if (likely(padding) && uoffset > prepend_sign + 1) {
                    PyObject *tmp;
                    PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign);
                    if (unlikely(!repeat)) goto done_or_error;
                    tmp = PyNumber_Multiply(padding, repeat);
                    Py_DECREF(repeat);
                    Py_DECREF(padding);
                    padding = tmp;
                }
                if (unlikely(!padding)) goto done_or_error;
            }
            if (prepend_sign) {
                sign = PyUnicode_FromOrdinal('-');
                if (unlikely(!sign)) goto done_or_error;
            }
        }
        uval = PyUnicode_DecodeASCII(chars, clength, NULL);
        if (likely(uval) && padding) {
            PyObject *tmp = PyNumber_Add(padding, uval);
            Py_DECREF(uval);
            uval = tmp;
        }
        if (likely(uval) && sign) {
            PyObject *tmp = PyNumber_Add(sign, uval);
            Py_DECREF(uval);
            uval = tmp;
        }
done_or_error:
        Py_XDECREF(padding);
        Py_XDECREF(sign);
    }
#endif
    return uval;
}

/* CIntToPyUnicode */
static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_long(long value, Py_ssize_t width, char padding_char, char format_char) {
    char digits[sizeof(long)*3+2];
    char *dpos, *end = digits + sizeof(long)*3+2;
    const char *hex_digits = DIGITS_HEX;
    Py_ssize_t length, ulength;
    int prepend_sign, last_one_off;
    long remaining;
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const long neg_one = (long) -1, const_zero = (long) 0;
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic pop
#endif
    const int is_unsigned = neg_one > const_zero;
    if (format_char == 'X') {
        hex_digits += 16;
        format_char = 'x';
    }
    remaining = value;
    last_one_off = 0;
    dpos = end;
    do {
        int digit_pos;
        switch (format_char) {
        case 'o':
            digit_pos = abs((int)(remaining % (8*8)));
            remaining = (long) (remaining / (8*8));
            dpos -= 2;
            memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2);
            last_one_off = (digit_pos < 8);
            break;
        case 'd':
            digit_pos = abs((int)(remaining % (10*10)));
            remaining = (long) (remaining / (10*10));
            dpos -= 2;
            memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2);
            last_one_off = (digit_pos < 10);
            break;
        case 'x':
            *(--dpos) = hex_digits[abs((int)(remaining % 16))];
            remaining = (long) (remaining / 16);
            break;
        default:
            assert(0);
            break;
        }
    } while (unlikely(remaining != 0));
    assert(!last_one_off || *dpos == '0');
    dpos += last_one_off;
    length = end - dpos;
    ulength = length;
    prepend_sign = 0;
    if (!is_unsigned && value <= neg_one) {
        if (padding_char == ' ' || width <= length + 1) {
            *(--dpos) = '-';
            ++length;
        } else {
            prepend_sign = 1;
        }
        ++ulength;
    }
    if (width > ulength) {
        ulength = width;
    }
    if (ulength == 1) {
        return PyUnicode_FromOrdinal(*dpos);
    }
    return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char);
}

/* JoinPyUnicode */
static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength,
                                      Py_UCS4 max_char) {
#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
    PyObject *result_uval;
    int result_ukind, kind_shift;
    Py_ssize_t i, char_pos;
    void *result_udata;
    CYTHON_MAYBE_UNUSED_VAR(max_char);
#if CYTHON_PEP393_ENABLED
    result_uval = PyUnicode_New(result_ulength, max_char);
    if (unlikely(!result_uval)) return NULL;
    result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND;
    kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1;
    result_udata = PyUnicode_DATA(result_uval);
#else
    result_uval = PyUnicode_FromUnicode(NULL, result_ulength);
    if (unlikely(!result_uval)) return NULL;
    result_ukind = sizeof(Py_UNICODE);
    kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1;
    result_udata = PyUnicode_AS_UNICODE(result_uval);
#endif
    assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0);
    char_pos = 0;
    for (i=0; i < value_count; i++) {
        int ukind;
        Py_ssize_t ulength;
        void *udata;
        PyObject *uval = PyTuple_GET_ITEM(value_tuple, i);
        if (unlikely(__Pyx_PyUnicode_READY(uval)))
            goto bad;
        ulength = __Pyx_PyUnicode_GET_LENGTH(uval);
        if (unlikely(!ulength))
            continue;
        if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos))
            goto overflow;
        ukind = __Pyx_PyUnicode_KIND(uval);
        udata = __Pyx_PyUnicode_DATA(uval);
        if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) {
            memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift));
        } else {
            #if PY_VERSION_HEX >= 0x030d0000
            if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad;
            #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters)
            _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength);
            #else
            Py_ssize_t j;
            for (j=0; j < ulength; j++) {
                Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j);
                __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar);
            }
            #endif
        }
        char_pos += ulength;
    }
    return result_uval;
overflow:
    PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string");
bad:
    Py_DECREF(result_uval);
    return NULL;
#else
    CYTHON_UNUSED_VAR(max_char);
    CYTHON_UNUSED_VAR(result_ulength);
    CYTHON_UNUSED_VAR(value_count);
    return PyUnicode_Join(__pyx_empty_unicode, value_tuple);
#endif
}

/* GetItemInt */
static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) {
    PyObject *r;
    if (unlikely(!j)) return NULL;
    r = PyObject_GetItem(o, j);
    Py_DECREF(j);
    return r;
}
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i,
                                                              CYTHON_NCP_UNUSED int wraparound,
                                                              CYTHON_NCP_UNUSED int boundscheck) {
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
    Py_ssize_t wrapped_i = i;
    if (wraparound & unlikely(i < 0)) {
        wrapped_i += PyList_GET_SIZE(o);
    }
    if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) {
        PyObject *r = PyList_GET_ITEM(o, wrapped_i);
        Py_INCREF(r);
        return r;
    }
    return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
#else
    return PySequence_GetItem(o, i);
#endif
}
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i,
                                                              CYTHON_NCP_UNUSED int wraparound,
                                                              CYTHON_NCP_UNUSED int boundscheck) {
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
    Py_ssize_t wrapped_i = i;
    if (wraparound & unlikely(i < 0)) {
        wrapped_i += PyTuple_GET_SIZE(o);
    }
    if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) {
        PyObject *r = PyTuple_GET_ITEM(o, wrapped_i);
        Py_INCREF(r);
        return r;
    }
    return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
#else
    return PySequence_GetItem(o, i);
#endif
}
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list,
                                                     CYTHON_NCP_UNUSED int wraparound,
                                                     CYTHON_NCP_UNUSED int boundscheck) {
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS
    if (is_list || PyList_CheckExact(o)) {
        Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o);
        if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) {
            PyObject *r = PyList_GET_ITEM(o, n);
            Py_INCREF(r);
            return r;
        }
    }
    else if (PyTuple_CheckExact(o)) {
        Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o);
        if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) {
            PyObject *r = PyTuple_GET_ITEM(o, n);
            Py_INCREF(r);
            return r;
        }
    } else {
        PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping;
        PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence;
        if (mm && mm->mp_subscript) {
            PyObject *r, *key = PyInt_FromSsize_t(i);
            if (unlikely(!key)) return NULL;
            r = mm->mp_subscript(o, key);
            Py_DECREF(key);
            return r;
        }
        if (likely(sm && sm->sq_item)) {
            if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) {
                Py_ssize_t l = sm->sq_length(o);
                if (likely(l >= 0)) {
                    i += l;
                } else {
                    if (!PyErr_ExceptionMatches(PyExc_OverflowError))
                        return NULL;
                    PyErr_Clear();
                }
            }
            return sm->sq_item(o, i);
        }
    }
#else
    if (is_list || !PyMapping_Check(o)) {
        return PySequence_GetItem(o, i);
    }
#endif
    return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
}

/* ObjectGetItem */
#if CYTHON_USE_TYPE_SLOTS
static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) {
    PyObject *runerr = NULL;
    Py_ssize_t key_value;
    key_value = __Pyx_PyIndex_AsSsize_t(index);
    if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) {
        return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1);
    }
    if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) {
        __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index));
        PyErr_Clear();
        PyErr_Format(PyExc_IndexError,
            "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name);
        __Pyx_DECREF_TypeName(index_type_name);
    }
    return NULL;
}
static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) {
    __Pyx_TypeName obj_type_name;
    if (likely(PyType_Check(obj))) {
        PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem);
        if (!meth) {
            PyErr_Clear();
        } else {
            PyObject *result = __Pyx_PyObject_CallOneArg(meth, key);
            Py_DECREF(meth);
            return result;
        }
    }
    obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj));
    PyErr_Format(PyExc_TypeError,
        "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name);
    __Pyx_DECREF_TypeName(obj_type_name);
    return NULL;
}
static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) {
    PyTypeObject *tp = Py_TYPE(obj);
    PyMappingMethods *mm = tp->tp_as_mapping;
    PySequenceMethods *sm = tp->tp_as_sequence;
    if (likely(mm && mm->mp_subscript)) {
        return mm->mp_subscript(obj, key);
    }
    if (likely(sm && sm->sq_item)) {
        return __Pyx_PyObject_GetIndex(obj, key);
    }
    return __Pyx_PyObject_GetItem_Slow(obj, key);
}
#endif

/* PyIntBinop */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_MAYBE_UNUSED_VAR(inplace);
    CYTHON_UNUSED_VAR(zerodivision_check);
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long x;
        long a = PyInt_AS_LONG(op1);
        
            x = (long)((unsigned long)a + (unsigned long)b);
            if (likely((x^a) >= 0 || (x^b) >= 0))
                return PyInt_FromLong(x);
            return PyLong_Type.tp_as_number->nb_add(op1, op2);
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        const long b = intval;
        long a, x;
#ifdef HAVE_LONG_LONG
        const PY_LONG_LONG llb = intval;
        PY_LONG_LONG lla, llx;
#endif
        if (unlikely(__Pyx_PyLong_IsZero(op1))) {
            return __Pyx_NewRef(op2);
        }
        if (likely(__Pyx_PyLong_IsCompact(op1))) {
            a = __Pyx_PyLong_CompactValue(op1);
        } else {
            const digit* digits = __Pyx_PyLong_Digits(op1);
            const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1);
            switch (size) {
                case -2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                default: return PyLong_Type.tp_as_number->nb_add(op1, op2);
            }
        }
                x = a + b;
            return PyLong_FromLong(x);
#ifdef HAVE_LONG_LONG
        long_long:
                llx = lla + llb;
            return PyLong_FromLongLong(llx);
#endif
        
        
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
#if CYTHON_COMPILING_IN_LIMITED_API
        double a = __pyx_PyFloat_AsDouble(op1);
#else
        double a = PyFloat_AS_DOUBLE(op1);
#endif
            double result;
            
            PyFPE_START_PROTECT("add", return NULL)
            result = ((double)a) + (double)b;
            PyFPE_END_PROTECT(result)
            return PyFloat_FromDouble(result);
    }
    return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2);
}
#endif

/* SetItemIntByteArray */
static CYTHON_INLINE int __Pyx_SetItemInt_ByteArray_Fast(PyObject* string, Py_ssize_t i, unsigned char v,
                                                         int wraparound, int boundscheck) {
    Py_ssize_t length;
    if (wraparound | boundscheck) {
        length = PyByteArray_GET_SIZE(string);
        if (wraparound & unlikely(i < 0)) i += length;
        if ((!boundscheck) || likely(__Pyx_is_valid_index(i, length))) {
            PyByteArray_AS_STRING(string)[i] = (char) v;
            return 0;
        } else {
            PyErr_SetString(PyExc_IndexError, "bytearray index out of range");
            return -1;
        }
    } else {
        PyByteArray_AS_STRING(string)[i] = (char) v;
        return 0;
    }
}

/* PyIntBinop */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_LshiftObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_MAYBE_UNUSED_VAR(inplace);
    CYTHON_UNUSED_VAR(zerodivision_check);
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long a = PyInt_AS_LONG(op1);
        
            if (likely(b < (long) (sizeof(long)*8) && a == (a << b) >> b) || !a) {
                return PyInt_FromLong(a << b);
            }
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        const long b = intval;
        long a, x;
#ifdef HAVE_LONG_LONG
        const PY_LONG_LONG llb = intval;
        PY_LONG_LONG lla, llx;
#endif
        if (unlikely(__Pyx_PyLong_IsZero(op1))) {
            return __Pyx_NewRef(op1);
        }
        if (likely(__Pyx_PyLong_IsCompact(op1))) {
            a = __Pyx_PyLong_CompactValue(op1);
        } else {
            const digit* digits = __Pyx_PyLong_Digits(op1);
            const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1);
            switch (size) {
                case -2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                default: return PyLong_Type.tp_as_number->nb_lshift(op1, op2);
            }
        }
                x = a << b;
#ifdef HAVE_LONG_LONG
                if (unlikely(!(b < (long) (sizeof(long)*8) && a == x >> b)) && a) {
                    lla = a;
                    goto long_long;
                }
#else
                if (likely(b < (long) (sizeof(long)*8) && a == x >> b) || !a)
#endif
            return PyLong_FromLong(x);
#ifdef HAVE_LONG_LONG
        long_long:
                llx = lla << llb;
                if (likely(lla == llx >> llb))
            return PyLong_FromLongLong(llx);
#endif
        
        
    }
    #endif
    return (inplace ? PyNumber_InPlaceLshift : PyNumber_Lshift)(op1, op2);
}
#endif

/* SliceObject */
static CYTHON_INLINE int __Pyx_PyObject_SetSlice(PyObject* obj, PyObject* value,
        Py_ssize_t cstart, Py_ssize_t cstop,
        PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice,
        int has_cstart, int has_cstop, int wraparound) {
    __Pyx_TypeName obj_type_name;
#if CYTHON_USE_TYPE_SLOTS
    PyMappingMethods* mp;
#if PY_MAJOR_VERSION < 3
    PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence;
    if (likely(ms && ms->sq_ass_slice)) {
        if (!has_cstart) {
            if (_py_start && (*_py_start != Py_None)) {
                cstart = __Pyx_PyIndex_AsSsize_t(*_py_start);
                if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
            } else
                cstart = 0;
        }
        if (!has_cstop) {
            if (_py_stop && (*_py_stop != Py_None)) {
                cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop);
                if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
            } else
                cstop = PY_SSIZE_T_MAX;
        }
        if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) {
            Py_ssize_t l = ms->sq_length(obj);
            if (likely(l >= 0)) {
                if (cstop < 0) {
                    cstop += l;
                    if (cstop < 0) cstop = 0;
                }
                if (cstart < 0) {
                    cstart += l;
                    if (cstart < 0) cstart = 0;
                }
            } else {
                if (!PyErr_ExceptionMatches(PyExc_OverflowError))
                    goto bad;
                PyErr_Clear();
            }
        }
        return ms->sq_ass_slice(obj, cstart, cstop, value);
    }
#else
    CYTHON_UNUSED_VAR(wraparound);
#endif
    mp = Py_TYPE(obj)->tp_as_mapping;
    if (likely(mp && mp->mp_ass_subscript))
#else
    CYTHON_UNUSED_VAR(wraparound);
#endif
    {
        int result;
        PyObject *py_slice, *py_start, *py_stop;
        if (_py_slice) {
            py_slice = *_py_slice;
        } else {
            PyObject* owned_start = NULL;
            PyObject* owned_stop = NULL;
            if (_py_start) {
                py_start = *_py_start;
            } else {
                if (has_cstart) {
                    owned_start = py_start = PyInt_FromSsize_t(cstart);
                    if (unlikely(!py_start)) goto bad;
                } else
                    py_start = Py_None;
            }
            if (_py_stop) {
                py_stop = *_py_stop;
            } else {
                if (has_cstop) {
                    owned_stop = py_stop = PyInt_FromSsize_t(cstop);
                    if (unlikely(!py_stop)) {
                        Py_XDECREF(owned_start);
                        goto bad;
                    }
                } else
                    py_stop = Py_None;
            }
            py_slice = PySlice_New(py_start, py_stop, Py_None);
            Py_XDECREF(owned_start);
            Py_XDECREF(owned_stop);
            if (unlikely(!py_slice)) goto bad;
        }
#if CYTHON_USE_TYPE_SLOTS
        result = mp->mp_ass_subscript(obj, py_slice, value);
#else
        result = value ? PyObject_SetItem(obj, py_slice, value) : PyObject_DelItem(obj, py_slice);
#endif
        if (!_py_slice) {
            Py_DECREF(py_slice);
        }
        return result;
    }
    obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj));
    PyErr_Format(PyExc_TypeError,
        "'" __Pyx_FMT_TYPENAME "' object does not support slice %.10s",
        obj_type_name, value ? "assignment" : "deletion");
    __Pyx_DECREF_TypeName(obj_type_name);
bad:
    return -1;
}

/* SetItemInt */
static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) {
    int r;
    if (unlikely(!j)) return -1;
    r = PyObject_SetItem(o, j, v);
    Py_DECREF(j);
    return r;
}
static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list,
                                               CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) {
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS
    if (is_list || PyList_CheckExact(o)) {
        Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o));
        if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) {
            PyObject* old = PyList_GET_ITEM(o, n);
            Py_INCREF(v);
            PyList_SET_ITEM(o, n, v);
            Py_DECREF(old);
            return 1;
        }
    } else {
        PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping;
        PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence;
        if (mm && mm->mp_ass_subscript) {
            int r;
            PyObject *key = PyInt_FromSsize_t(i);
            if (unlikely(!key)) return -1;
            r = mm->mp_ass_subscript(o, key, v);
            Py_DECREF(key);
            return r;
        }
        if (likely(sm && sm->sq_ass_item)) {
            if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) {
                Py_ssize_t l = sm->sq_length(o);
                if (likely(l >= 0)) {
                    i += l;
                } else {
                    if (!PyErr_ExceptionMatches(PyExc_OverflowError))
                        return -1;
                    PyErr_Clear();
                }
            }
            return sm->sq_ass_item(o, i, v);
        }
    }
#else
    if (is_list || !PyMapping_Check(o))
    {
        return PySequence_SetItem(o, i, v);
    }
#endif
    return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v);
}

/* UnpackUnboundCMethod */
static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) {
    PyObject *result;
    PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args));
    if (unlikely(!selfless_args)) return NULL;
    result = PyObject_Call(method, selfless_args, kwargs);
    Py_DECREF(selfless_args);
    return result;
}
static PyMethodDef __Pyx_UnboundCMethod_Def = {
     "CythonUnboundCMethod",
     __PYX_REINTERPRET_FUNCION(PyCFunction, __Pyx_SelflessCall),
     METH_VARARGS | METH_KEYWORDS,
     NULL
};
static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) {
    PyObject *method;
    method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name);
    if (unlikely(!method))
        return -1;
    target->method = method;
#if CYTHON_COMPILING_IN_CPYTHON
    #if PY_MAJOR_VERSION >= 3
    if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type)))
    #else
    if (likely(!__Pyx_CyOrPyCFunction_Check(method)))
    #endif
    {
        PyMethodDescrObject *descr = (PyMethodDescrObject*) method;
        target->func = descr->d_method->ml_meth;
        target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS);
    } else
#endif
#if CYTHON_COMPILING_IN_PYPY
#else
    if (PyCFunction_Check(method))
#endif
    {
        PyObject *self;
        int self_found;
#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY
        self = PyObject_GetAttrString(method, "__self__");
        if (!self) {
            PyErr_Clear();
        }
#else
        self = PyCFunction_GET_SELF(method);
#endif
        self_found = (self && self != Py_None);
#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY
        Py_XDECREF(self);
#endif
        if (self_found) {
            PyObject *unbound_method = PyCFunction_New(&__Pyx_UnboundCMethod_Def, method);
            if (unlikely(!unbound_method)) return -1;
            Py_DECREF(method);
            target->method = unbound_method;
        }
    }
    return 0;
}

/* CallUnboundCMethod1 */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg) {
    if (likely(cfunc->func)) {
        int flag = cfunc->flag;
        if (flag == METH_O) {
            return (*(cfunc->func))(self, arg);
        } else if ((PY_VERSION_HEX >= 0x030600B1) && flag == METH_FASTCALL) {
            #if PY_VERSION_HEX >= 0x030700A0
                return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, &arg, 1);
            #else
                return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL);
            #endif
        } else if ((PY_VERSION_HEX >= 0x030700A0) && flag == (METH_FASTCALL | METH_KEYWORDS)) {
            return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL);
        }
    }
    return __Pyx__CallUnboundCMethod1(cfunc, self, arg);
}
#endif
static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg){
    PyObject *args, *result = NULL;
    if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL;
#if CYTHON_COMPILING_IN_CPYTHON
    if (cfunc->func && (cfunc->flag & METH_VARARGS)) {
        args = PyTuple_New(1);
        if (unlikely(!args)) goto bad;
        Py_INCREF(arg);
        PyTuple_SET_ITEM(args, 0, arg);
        if (cfunc->flag & METH_KEYWORDS)
            result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL);
        else
            result = (*cfunc->func)(self, args);
    } else {
        args = PyTuple_New(2);
        if (unlikely(!args)) goto bad;
        Py_INCREF(self);
        PyTuple_SET_ITEM(args, 0, self);
        Py_INCREF(arg);
        PyTuple_SET_ITEM(args, 1, arg);
        result = __Pyx_PyObject_Call(cfunc->method, args, NULL);
    }
#else
    args = PyTuple_Pack(2, self, arg);
    if (unlikely(!args)) goto bad;
    result = __Pyx_PyObject_Call(cfunc->method, args, NULL);
#endif
bad:
    Py_XDECREF(args);
    return result;
}

/* CallUnboundCMethod2 */
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1
static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2) {
    if (likely(cfunc->func)) {
        PyObject *args[2] = {arg1, arg2};
        if (cfunc->flag == METH_FASTCALL) {
            #if PY_VERSION_HEX >= 0x030700A0
            return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, args, 2);
            #else
            return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL);
            #endif
        }
        #if PY_VERSION_HEX >= 0x030700A0
        if (cfunc->flag == (METH_FASTCALL | METH_KEYWORDS))
            return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL);
        #endif
    }
    return __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2);
}
#endif
static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2){
    PyObject *args, *result = NULL;
    if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL;
#if CYTHON_COMPILING_IN_CPYTHON
    if (cfunc->func && (cfunc->flag & METH_VARARGS)) {
        args = PyTuple_New(2);
        if (unlikely(!args)) goto bad;
        Py_INCREF(arg1);
        PyTuple_SET_ITEM(args, 0, arg1);
        Py_INCREF(arg2);
        PyTuple_SET_ITEM(args, 1, arg2);
        if (cfunc->flag & METH_KEYWORDS)
            result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL);
        else
            result = (*cfunc->func)(self, args);
    } else {
        args = PyTuple_New(3);
        if (unlikely(!args)) goto bad;
        Py_INCREF(self);
        PyTuple_SET_ITEM(args, 0, self);
        Py_INCREF(arg1);
        PyTuple_SET_ITEM(args, 1, arg1);
        Py_INCREF(arg2);
        PyTuple_SET_ITEM(args, 2, arg2);
        result = __Pyx_PyObject_Call(cfunc->method, args, NULL);
    }
#else
    args = PyTuple_Pack(3, self, arg1, arg2);
    if (unlikely(!args)) goto bad;
    result = __Pyx_PyObject_Call(cfunc->method, args, NULL);
#endif
bad:
    Py_XDECREF(args);
    return result;
}

/* dict_getitem_default */
static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value) {
    PyObject* value;
#if PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000)
    value = PyDict_GetItemWithError(d, key);
    if (unlikely(!value)) {
        if (unlikely(PyErr_Occurred()))
            return NULL;
        value = default_value;
    }
    Py_INCREF(value);
    if ((1));
#else
    if (PyString_CheckExact(key) || PyUnicode_CheckExact(key) || PyInt_CheckExact(key)) {
        value = PyDict_GetItem(d, key);
        if (unlikely(!value)) {
            value = default_value;
        }
        Py_INCREF(value);
    }
#endif
    else {
        if (default_value == Py_None)
            value = __Pyx_CallUnboundCMethod1(&__pyx_umethod_PyDict_Type_get, d, key);
        else
            value = __Pyx_CallUnboundCMethod2(&__pyx_umethod_PyDict_Type_get, d, key, default_value);
    }
    return value;
}

/* StringJoin */
static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) {
    (void) __Pyx_PyObject_CallMethod1;
#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3
    return _PyString_Join(sep, values);
#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000
    return _PyBytes_Join(sep, values);
#else
    return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values);
#endif
}

/* IterFinish */
static CYTHON_INLINE int __Pyx_IterFinish(void) {
    PyObject* exc_type;
    __Pyx_PyThreadState_declare
    __Pyx_PyThreadState_assign
    exc_type = __Pyx_PyErr_CurrentExceptionType();
    if (unlikely(exc_type)) {
        if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration)))
            return -1;
        __Pyx_PyErr_Clear();
        return 0;
    }
    return 0;
}

/* PyObjectCallNoArg */
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) {
    PyObject *arg[2] = {NULL, NULL};
    return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET);
}

/* PyObjectCallMethod0 */
static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) {
    PyObject *method = NULL, *result = NULL;
    int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method);
    if (likely(is_method)) {
        result = __Pyx_PyObject_CallOneArg(method, obj);
        Py_DECREF(method);
        return result;
    }
    if (unlikely(!method)) goto bad;
    result = __Pyx_PyObject_CallNoArg(method);
    Py_DECREF(method);
bad:
    return result;
}

/* RaiseNeedMoreValuesToUnpack */
static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) {
    PyErr_Format(PyExc_ValueError,
                 "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack",
                 index, (index == 1) ? "" : "s");
}

/* RaiseTooManyValuesToUnpack */
static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) {
    PyErr_Format(PyExc_ValueError,
                 "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected);
}

/* UnpackItemEndCheck */
static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) {
    if (unlikely(retval)) {
        Py_DECREF(retval);
        __Pyx_RaiseTooManyValuesError(expected);
        return -1;
    }
    return __Pyx_IterFinish();
}

/* RaiseNoneIterError */
static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) {
    PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable");
}

/* UnpackTupleError */
static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) {
    if (t == Py_None) {
      __Pyx_RaiseNoneNotIterableError();
    } else if (PyTuple_GET_SIZE(t) < index) {
      __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t));
    } else {
      __Pyx_RaiseTooManyValuesError(index);
    }
}

/* UnpackTuple2 */
static CYTHON_INLINE int __Pyx_unpack_tuple2_exact(
        PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) {
    PyObject *value1 = NULL, *value2 = NULL;
#if CYTHON_COMPILING_IN_PYPY
    value1 = PySequence_ITEM(tuple, 0);  if (unlikely(!value1)) goto bad;
    value2 = PySequence_ITEM(tuple, 1);  if (unlikely(!value2)) goto bad;
#else
    value1 = PyTuple_GET_ITEM(tuple, 0);  Py_INCREF(value1);
    value2 = PyTuple_GET_ITEM(tuple, 1);  Py_INCREF(value2);
#endif
    if (decref_tuple) {
        Py_DECREF(tuple);
    }
    *pvalue1 = value1;
    *pvalue2 = value2;
    return 0;
#if CYTHON_COMPILING_IN_PYPY
bad:
    Py_XDECREF(value1);
    Py_XDECREF(value2);
    if (decref_tuple) { Py_XDECREF(tuple); }
    return -1;
#endif
}
static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2,
                                       int has_known_size, int decref_tuple) {
    Py_ssize_t index;
    PyObject *value1 = NULL, *value2 = NULL, *iter = NULL;
    iternextfunc iternext;
    iter = PyObject_GetIter(tuple);
    if (unlikely(!iter)) goto bad;
    if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; }
    iternext = __Pyx_PyObject_GetIterNextFunc(iter);
    value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; }
    value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; }
    if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad;
    Py_DECREF(iter);
    *pvalue1 = value1;
    *pvalue2 = value2;
    return 0;
unpacking_failed:
    if (!has_known_size && __Pyx_IterFinish() == 0)
        __Pyx_RaiseNeedMoreValuesError(index);
bad:
    Py_XDECREF(iter);
    Py_XDECREF(value1);
    Py_XDECREF(value2);
    if (decref_tuple) { Py_XDECREF(tuple); }
    return -1;
}

/* dict_iter */
#if CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3
#include <string.h>
#endif
static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name,
                                                   Py_ssize_t* p_orig_length, int* p_source_is_dict) {
    is_dict = is_dict || likely(PyDict_CheckExact(iterable));
    *p_source_is_dict = is_dict;
    if (is_dict) {
#if !CYTHON_COMPILING_IN_PYPY
        *p_orig_length = PyDict_Size(iterable);
        Py_INCREF(iterable);
        return iterable;
#elif PY_MAJOR_VERSION >= 3
        static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL;
        PyObject **pp = NULL;
        if (method_name) {
            const char *name = PyUnicode_AsUTF8(method_name);
            if (strcmp(name, "iteritems") == 0) pp = &py_items;
            else if (strcmp(name, "iterkeys") == 0) pp = &py_keys;
            else if (strcmp(name, "itervalues") == 0) pp = &py_values;
            if (pp) {
                if (!*pp) {
                    *pp = PyUnicode_FromString(name + 4);
                    if (!*pp)
                        return NULL;
                }
                method_name = *pp;
            }
        }
#endif
    }
    *p_orig_length = 0;
    if (method_name) {
        PyObject* iter;
        iterable = __Pyx_PyObject_CallMethod0(iterable, method_name);
        if (!iterable)
            return NULL;
#if !CYTHON_COMPILING_IN_PYPY
        if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable))
            return iterable;
#endif
        iter = PyObject_GetIter(iterable);
        Py_DECREF(iterable);
        return iter;
    }
    return PyObject_GetIter(iterable);
}
static CYTHON_INLINE int __Pyx_dict_iter_next(
        PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos,
        PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) {
    PyObject* next_item;
#if !CYTHON_COMPILING_IN_PYPY
    if (source_is_dict) {
        PyObject *key, *value;
        if (unlikely(orig_length != PyDict_Size(iter_obj))) {
            PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration");
            return -1;
        }
        if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) {
            return 0;
        }
        if (pitem) {
            PyObject* tuple = PyTuple_New(2);
            if (unlikely(!tuple)) {
                return -1;
            }
            Py_INCREF(key);
            Py_INCREF(value);
            PyTuple_SET_ITEM(tuple, 0, key);
            PyTuple_SET_ITEM(tuple, 1, value);
            *pitem = tuple;
        } else {
            if (pkey) {
                Py_INCREF(key);
                *pkey = key;
            }
            if (pvalue) {
                Py_INCREF(value);
                *pvalue = value;
            }
        }
        return 1;
    } else if (PyTuple_CheckExact(iter_obj)) {
        Py_ssize_t pos = *ppos;
        if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0;
        *ppos = pos + 1;
        next_item = PyTuple_GET_ITEM(iter_obj, pos);
        Py_INCREF(next_item);
    } else if (PyList_CheckExact(iter_obj)) {
        Py_ssize_t pos = *ppos;
        if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0;
        *ppos = pos + 1;
        next_item = PyList_GET_ITEM(iter_obj, pos);
        Py_INCREF(next_item);
    } else
#endif
    {
        next_item = PyIter_Next(iter_obj);
        if (unlikely(!next_item)) {
            return __Pyx_IterFinish();
        }
    }
    if (pitem) {
        *pitem = next_item;
    } else if (pkey && pvalue) {
        if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1))
            return -1;
    } else if (pkey) {
        *pkey = next_item;
    } else {
        *pvalue = next_item;
    }
    return 1;
}

/* RaiseUnboundLocalError */
static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) {
    PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname);
}

/* PyIntCompare */
static CYTHON_INLINE int __Pyx_PyInt_BoolNeObjC(PyObject *op1, PyObject *op2, long intval, long inplace) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_UNUSED_VAR(inplace);
    if (op1 == op2) {
        return 0;
    }
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long a = PyInt_AS_LONG(op1);
        return (a != b);
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        int unequal;
        unsigned long uintval;
        Py_ssize_t size = __Pyx_PyLong_DigitCount(op1);
        const digit* digits = __Pyx_PyLong_Digits(op1);
        if (intval == 0) {
            return (__Pyx_PyLong_IsZero(op1) != 1);
        } else if (intval < 0) {
            if (__Pyx_PyLong_IsNonNeg(op1))
                return 1;
            intval = -intval;
        } else {
            if (__Pyx_PyLong_IsNeg(op1))
                return 1;
        }
        uintval = (unsigned long) intval;
#if PyLong_SHIFT * 4 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 4)) {
            unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 3 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 3)) {
            unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 2 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 2)) {
            unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 1 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 1)) {
            unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
            unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK));
        return (unequal != 0);
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
#if CYTHON_COMPILING_IN_LIMITED_API
        double a = __pyx_PyFloat_AsDouble(op1);
#else
        double a = PyFloat_AS_DOUBLE(op1);
#endif
        return ((double)a != (double)b);
    }
    return __Pyx_PyObject_IsTrueAndDecref(
        PyObject_RichCompare(op1, op2, Py_NE));
}

/* pybytes_as_double */
static double __Pyx_SlowPyString_AsDouble(PyObject *obj) {
    PyObject *float_value;
#if PY_MAJOR_VERSION >= 3
    float_value = PyFloat_FromString(obj);
#else
    float_value = PyFloat_FromString(obj, 0);
#endif
    if (likely(float_value)) {
#if CYTHON_ASSUME_SAFE_MACROS
        double value = PyFloat_AS_DOUBLE(float_value);
#else
        double value = PyFloat_AsDouble(float_value);
#endif
        Py_DECREF(float_value);
        return value;
    }
    return (double)-1;
}
static const char* __Pyx__PyBytes_AsDouble_Copy(const char* start, char* buffer, Py_ssize_t length) {
    int last_was_punctuation = 1;
    Py_ssize_t i;
    for (i=0; i < length; i++) {
        char chr = start[i];
        int is_punctuation = (chr == '_') | (chr == '.') | (chr == 'e') | (chr == 'E');
        *buffer = chr;
        buffer += (chr != '_');
        if (unlikely(last_was_punctuation & is_punctuation)) goto parse_failure;
        last_was_punctuation = is_punctuation;
    }
    if (unlikely(last_was_punctuation)) goto parse_failure;
    *buffer = '\0';
    return buffer;
parse_failure:
    return NULL;
}
static double __Pyx__PyBytes_AsDouble_inf_nan(const char* start, Py_ssize_t length) {
    int matches = 1;
    char sign = start[0];
    int is_signed = (sign == '+') | (sign == '-');
    start += is_signed;
    length -= is_signed;
    switch (start[0]) {
        #ifdef Py_NAN
        case 'n':
        case 'N':
            if (unlikely(length != 3)) goto parse_failure;
            matches &= (start[1] == 'a' || start[1] == 'A');
            matches &= (start[2] == 'n' || start[2] == 'N');
            if (unlikely(!matches)) goto parse_failure;
            return (sign == '-') ? -Py_NAN : Py_NAN;
        #endif
        case 'i':
        case 'I':
            if (unlikely(length < 3)) goto parse_failure;
            matches &= (start[1] == 'n' || start[1] == 'N');
            matches &= (start[2] == 'f' || start[2] == 'F');
            if (likely(length == 3 && matches))
                return (sign == '-') ? -Py_HUGE_VAL : Py_HUGE_VAL;
            if (unlikely(length != 8)) goto parse_failure;
            matches &= (start[3] == 'i' || start[3] == 'I');
            matches &= (start[4] == 'n' || start[4] == 'N');
            matches &= (start[5] == 'i' || start[5] == 'I');
            matches &= (start[6] == 't' || start[6] == 'T');
            matches &= (start[7] == 'y' || start[7] == 'Y');
            if (unlikely(!matches)) goto parse_failure;
            return (sign == '-') ? -Py_HUGE_VAL : Py_HUGE_VAL;
        case '.': case '0': case '1': case '2': case '3': case '4': case '5': case '6': case '7': case '8': case '9':
            break;
        default:
            goto parse_failure;
    }
    return 0.0;
parse_failure:
    return -1.0;
}
static CYTHON_INLINE int __Pyx__PyBytes_AsDouble_IsSpace(char ch) {
    return (ch == 0x20) | !((ch < 0x9) | (ch > 0xd));
}
CYTHON_UNUSED static double __Pyx__PyBytes_AsDouble(PyObject *obj, const char* start, Py_ssize_t length) {
    double value;
    Py_ssize_t i, digits;
    const char *last = start + length;
    char *end;
    while (__Pyx__PyBytes_AsDouble_IsSpace(*start))
        start++;
    while (start < last - 1 && __Pyx__PyBytes_AsDouble_IsSpace(last[-1]))
        last--;
    length = last - start;
    if (unlikely(length <= 0)) goto fallback;
    value = __Pyx__PyBytes_AsDouble_inf_nan(start, length);
    if (unlikely(value == -1.0)) goto fallback;
    if (value != 0.0) return value;
    digits = 0;
    for (i=0; i < length; digits += start[i++] != '_');
    if (likely(digits == length)) {
        value = PyOS_string_to_double(start, &end, NULL);
    } else if (digits < 40) {
        char number[40];
        last = __Pyx__PyBytes_AsDouble_Copy(start, number, length);
        if (unlikely(!last)) goto fallback;
        value = PyOS_string_to_double(number, &end, NULL);
    } else {
        char *number = (char*) PyMem_Malloc((digits + 1) * sizeof(char));
        if (unlikely(!number)) goto fallback;
        last = __Pyx__PyBytes_AsDouble_Copy(start, number, length);
        if (unlikely(!last)) {
            PyMem_Free(number);
            goto fallback;
        }
        value = PyOS_string_to_double(number, &end, NULL);
        PyMem_Free(number);
    }
    if (likely(end == last) || (value == (double)-1 && PyErr_Occurred())) {
        return value;
    }
fallback:
    return __Pyx_SlowPyString_AsDouble(obj);
}

/* pynumber_float */
static CYTHON_INLINE PyObject* __Pyx__PyNumber_Float(PyObject* obj) {
    double val;
    if (PyLong_CheckExact(obj)) {
#if CYTHON_USE_PYLONG_INTERNALS
        if (likely(__Pyx_PyLong_IsCompact(obj))) {
            val = (double) __Pyx_PyLong_CompactValue(obj);
            goto no_error;
        }
#endif
        val = PyLong_AsDouble(obj);
    } else if (PyUnicode_CheckExact(obj)) {
        val = __Pyx_PyUnicode_AsDouble(obj);
    } else if (PyBytes_CheckExact(obj)) {
        val = __Pyx_PyBytes_AsDouble(obj);
    } else if (PyByteArray_CheckExact(obj)) {
        val = __Pyx_PyByteArray_AsDouble(obj);
    } else {
        return PyNumber_Float(obj);
    }
    if (unlikely(val == -1 && PyErr_Occurred())) {
        return NULL;
    }
#if CYTHON_USE_PYLONG_INTERNALS
no_error:
#endif
    return PyFloat_FromDouble(val);
}

/* PyFloatBinop */
#if !CYTHON_COMPILING_IN_PYPY
static int __Pyx_PyFloat_BoolEqObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) {
    const double b = floatval;
    double a;
    CYTHON_UNUSED_VAR(inplace);
    CYTHON_UNUSED_VAR(zerodivision_check);
    if (op1 == op2) {
        return 1;
    }
    if (likely(PyFloat_CheckExact(op1))) {
#if CYTHON_COMPILING_IN_LIMITED_API
        a = __pyx_PyFloat_AsDouble(op1);
#else
        a = PyFloat_AS_DOUBLE(op1);
#endif
        
    } else
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        a = (double) PyInt_AS_LONG(op1);
        
    } else
    #endif
    if (likely(PyLong_CheckExact(op1))) {
        #if CYTHON_USE_PYLONG_INTERNALS
        if (__Pyx_PyLong_IsZero(op1)) {
            a = 0.0;
            
        } else if (__Pyx_PyLong_IsCompact(op1)) {
            a = (double) __Pyx_PyLong_CompactValue(op1);
        } else {
            const digit* digits = __Pyx_PyLong_Digits(op1);
            const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1);
            switch (size) {
                case -2:
                case 2:
                    if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) {
                        a = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                            if (size == -2)
                                a = -a;
                            break;
                        }
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                case 3:
                    if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) {
                        a = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                            if (size == -3)
                                a = -a;
                            break;
                        }
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                case 4:
                    if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) {
                        a = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                            if (size == -4)
                                a = -a;
                            break;
                        }
                    }
                    CYTHON_FALLTHROUGH;
                default:
        #endif
                    return __Pyx_PyObject_IsTrueAndDecref(
                        PyFloat_Type.tp_richcompare(op2, op1, Py_EQ));
        #if CYTHON_USE_PYLONG_INTERNALS
            }
        }
        #endif
    } else {
        return __Pyx_PyObject_IsTrueAndDecref(
            PyObject_RichCompare(op1, op2, Py_EQ));
    }
        if (a == b) {
            return 1;
        } else {
            return 0;
        }
}
#endif

/* PyIntBinop */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_SubtractObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_MAYBE_UNUSED_VAR(inplace);
    CYTHON_UNUSED_VAR(zerodivision_check);
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long x;
        long a = PyInt_AS_LONG(op1);
        
            x = (long)((unsigned long)a - (unsigned long)b);
            if (likely((x^a) >= 0 || (x^~b) >= 0))
                return PyInt_FromLong(x);
            return PyLong_Type.tp_as_number->nb_subtract(op1, op2);
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        const long b = intval;
        long a, x;
#ifdef HAVE_LONG_LONG
        const PY_LONG_LONG llb = intval;
        PY_LONG_LONG lla, llx;
#endif
        if (unlikely(__Pyx_PyLong_IsZero(op1))) {
            return PyLong_FromLong(-intval);
        }
        if (likely(__Pyx_PyLong_IsCompact(op1))) {
            a = __Pyx_PyLong_CompactValue(op1);
        } else {
            const digit* digits = __Pyx_PyLong_Digits(op1);
            const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1);
            switch (size) {
                case -2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                default: return PyLong_Type.tp_as_number->nb_subtract(op1, op2);
            }
        }
                x = a - b;
            return PyLong_FromLong(x);
#ifdef HAVE_LONG_LONG
        long_long:
                llx = lla - llb;
            return PyLong_FromLongLong(llx);
#endif
        
        
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
#if CYTHON_COMPILING_IN_LIMITED_API
        double a = __pyx_PyFloat_AsDouble(op1);
#else
        double a = PyFloat_AS_DOUBLE(op1);
#endif
            double result;
            
            PyFPE_START_PROTECT("subtract", return NULL)
            result = ((double)a) - (double)b;
            PyFPE_END_PROTECT(result)
            return PyFloat_FromDouble(result);
    }
    return (inplace ? PyNumber_InPlaceSubtract : PyNumber_Subtract)(op1, op2);
}
#endif

/* PyFloatBinop */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_TrueDivideObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) {
    const double b = floatval;
    double a, result;
    CYTHON_UNUSED_VAR(inplace);
    CYTHON_UNUSED_VAR(zerodivision_check);
    if (likely(PyFloat_CheckExact(op1))) {
#if CYTHON_COMPILING_IN_LIMITED_API
        a = __pyx_PyFloat_AsDouble(op1);
#else
        a = PyFloat_AS_DOUBLE(op1);
#endif
        
    } else
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        a = (double) PyInt_AS_LONG(op1);
        
    } else
    #endif
    if (likely(PyLong_CheckExact(op1))) {
        #if CYTHON_USE_PYLONG_INTERNALS
        if (__Pyx_PyLong_IsZero(op1)) {
            a = 0.0;
            
        } else if (__Pyx_PyLong_IsCompact(op1)) {
            a = (double) __Pyx_PyLong_CompactValue(op1);
        } else {
            const digit* digits = __Pyx_PyLong_Digits(op1);
            const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1);
            switch (size) {
                case -2:
                case 2:
                    if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) {
                        a = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                            if (size == -2)
                                a = -a;
                            break;
                        }
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                case 3:
                    if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) {
                        a = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                            if (size == -3)
                                a = -a;
                            break;
                        }
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                case 4:
                    if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) {
                        a = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                            if (size == -4)
                                a = -a;
                            break;
                        }
                    }
                    CYTHON_FALLTHROUGH;
                default:
        #endif
                    a = PyLong_AsDouble(op1);
                    if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL;
        #if CYTHON_USE_PYLONG_INTERNALS
            }
        }
        #endif
    } else {
        return (inplace ? PyNumber_InPlaceTrueDivide : PyNumber_TrueDivide)(op1, op2);
    }
        PyFPE_START_PROTECT("divide", return NULL)
        result = a / b;
        PyFPE_END_PROTECT(result)
        return PyFloat_FromDouble(result);
}
#endif

/* PyIntBinop */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_MultiplyObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_MAYBE_UNUSED_VAR(inplace);
    CYTHON_UNUSED_VAR(zerodivision_check);
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long a = PyInt_AS_LONG(op1);
        
#ifdef HAVE_LONG_LONG
            if (sizeof(PY_LONG_LONG) > sizeof(long)) {
                PY_LONG_LONG result = (PY_LONG_LONG)a * (PY_LONG_LONG)b;
                return (result >= LONG_MIN && result <= LONG_MAX) ?
                    PyInt_FromLong((long)result) : PyLong_FromLongLong(result);
            }
#endif
#if CYTHON_USE_TYPE_SLOTS
            return PyInt_Type.tp_as_number->nb_multiply(op1, op2);
#else
            return PyNumber_Multiply(op1, op2);
#endif
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        const long b = intval;
        long a, x;
#ifdef HAVE_LONG_LONG
        const PY_LONG_LONG llb = intval;
        PY_LONG_LONG lla, llx;
#endif
        if (unlikely(__Pyx_PyLong_IsZero(op1))) {
            return __Pyx_NewRef(op1);
        }
        if (likely(__Pyx_PyLong_IsCompact(op1))) {
            a = __Pyx_PyLong_CompactValue(op1);
        } else {
            const digit* digits = __Pyx_PyLong_Digits(op1);
            const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1);
            switch (size) {
                case -2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT+30) {
                        a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT+30) {
                        lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT+30) {
                        a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT+30) {
                        lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT+30) {
                        a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT+30) {
                        lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT+30) {
                        a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT+30) {
                        lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT+30) {
                        a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT+30) {
                        lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT+30) {
                        a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT+30) {
                        lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                default: return PyLong_Type.tp_as_number->nb_multiply(op1, op2);
            }
        }
                CYTHON_UNUSED_VAR(a);
                CYTHON_UNUSED_VAR(b);
                #ifdef HAVE_LONG_LONG
                lla = a;
                goto long_long;
                #else
                return PyLong_Type.tp_as_number->nb_multiply(op1, op2);
                #endif
            return PyLong_FromLong(x);
#ifdef HAVE_LONG_LONG
        long_long:
                llx = lla * llb;
            return PyLong_FromLongLong(llx);
#endif
        
        
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
#if CYTHON_COMPILING_IN_LIMITED_API
        double a = __pyx_PyFloat_AsDouble(op1);
#else
        double a = PyFloat_AS_DOUBLE(op1);
#endif
            double result;
            
            PyFPE_START_PROTECT("multiply", return NULL)
            result = ((double)a) * (double)b;
            PyFPE_END_PROTECT(result)
            return PyFloat_FromDouble(result);
    }
    return (inplace ? PyNumber_InPlaceMultiply : PyNumber_Multiply)(op1, op2);
}
#endif

/* PyIntBinop */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_RemainderObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_MAYBE_UNUSED_VAR(inplace);
    CYTHON_UNUSED_VAR(zerodivision_check);
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long x;
        long a = PyInt_AS_LONG(op1);
        
            x = a % b;
            x += ((x != 0) & ((x ^ b) < 0)) * b;
            return PyInt_FromLong(x);
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        const long b = intval;
        long a, x;
#ifdef HAVE_LONG_LONG
        const PY_LONG_LONG llb = intval;
        PY_LONG_LONG lla, llx;
#endif
        if (unlikely(__Pyx_PyLong_IsZero(op1))) {
            return __Pyx_NewRef(op1);
        }
        if (likely(__Pyx_PyLong_IsCompact(op1))) {
            a = __Pyx_PyLong_CompactValue(op1);
        } else {
            const digit* digits = __Pyx_PyLong_Digits(op1);
            const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1);
            switch (size) {
                case -2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                case 4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
                    #ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
                    #endif
                    }
                    CYTHON_FALLTHROUGH;
                default: return PyLong_Type.tp_as_number->nb_remainder(op1, op2);
            }
        }
                x = a % b;
                x += ((x != 0) & ((x ^ b) < 0)) * b;
            return PyLong_FromLong(x);
#ifdef HAVE_LONG_LONG
        long_long:
                llx = lla % llb;
                llx += ((llx != 0) & ((llx ^ llb) < 0)) * llb;
            return PyLong_FromLongLong(llx);
#endif
        
        
    }
    #endif
    return (inplace ? PyNumber_InPlaceRemainder : PyNumber_Remainder)(op1, op2);
}
#endif

/* decode_c_bytes */
static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes(
         const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop,
         const char* encoding, const char* errors,
         PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) {
    if (unlikely((start < 0) | (stop < 0))) {
        if (start < 0) {
            start += length;
            if (start < 0)
                start = 0;
        }
        if (stop < 0)
            stop += length;
    }
    if (stop > length)
        stop = length;
    if (unlikely(stop <= start))
        return __Pyx_NewRef(__pyx_empty_unicode);
    length = stop - start;
    cstring += start;
    if (decode_func) {
        return decode_func(cstring, length, errors);
    } else {
        return PyUnicode_Decode(cstring, length, encoding, errors);
    }
}

/* PyObjectFormat */
#if CYTHON_USE_UNICODE_WRITER
static PyObject* __Pyx_PyObject_Format(PyObject* obj, PyObject* format_spec) {
    int ret;
    _PyUnicodeWriter writer;
    if (likely(PyFloat_CheckExact(obj))) {
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x03040000
        _PyUnicodeWriter_Init(&writer, 0);
#else
        _PyUnicodeWriter_Init(&writer);
#endif
        ret = _PyFloat_FormatAdvancedWriter(
            &writer,
            obj,
            format_spec, 0, PyUnicode_GET_LENGTH(format_spec));
    } else if (likely(PyLong_CheckExact(obj))) {
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x03040000
        _PyUnicodeWriter_Init(&writer, 0);
#else
        _PyUnicodeWriter_Init(&writer);
#endif
        ret = _PyLong_FormatAdvancedWriter(
            &writer,
            obj,
            format_spec, 0, PyUnicode_GET_LENGTH(format_spec));
    } else {
        return PyObject_Format(obj, format_spec);
    }
    if (unlikely(ret == -1)) {
        _PyUnicodeWriter_Dealloc(&writer);
        return NULL;
    }
    return _PyUnicodeWriter_Finish(&writer);
}
#endif

/* SliceObject */
static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj,
        Py_ssize_t cstart, Py_ssize_t cstop,
        PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice,
        int has_cstart, int has_cstop, int wraparound) {
    __Pyx_TypeName obj_type_name;
#if CYTHON_USE_TYPE_SLOTS
    PyMappingMethods* mp;
#if PY_MAJOR_VERSION < 3
    PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence;
    if (likely(ms && ms->sq_slice)) {
        if (!has_cstart) {
            if (_py_start && (*_py_start != Py_None)) {
                cstart = __Pyx_PyIndex_AsSsize_t(*_py_start);
                if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
            } else
                cstart = 0;
        }
        if (!has_cstop) {
            if (_py_stop && (*_py_stop != Py_None)) {
                cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop);
                if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
            } else
                cstop = PY_SSIZE_T_MAX;
        }
        if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) {
            Py_ssize_t l = ms->sq_length(obj);
            if (likely(l >= 0)) {
                if (cstop < 0) {
                    cstop += l;
                    if (cstop < 0) cstop = 0;
                }
                if (cstart < 0) {
                    cstart += l;
                    if (cstart < 0) cstart = 0;
                }
            } else {
                if (!PyErr_ExceptionMatches(PyExc_OverflowError))
                    goto bad;
                PyErr_Clear();
            }
        }
        return ms->sq_slice(obj, cstart, cstop);
    }
#else
    CYTHON_UNUSED_VAR(wraparound);
#endif
    mp = Py_TYPE(obj)->tp_as_mapping;
    if (likely(mp && mp->mp_subscript))
#else
    CYTHON_UNUSED_VAR(wraparound);
#endif
    {
        PyObject* result;
        PyObject *py_slice, *py_start, *py_stop;
        if (_py_slice) {
            py_slice = *_py_slice;
        } else {
            PyObject* owned_start = NULL;
            PyObject* owned_stop = NULL;
            if (_py_start) {
                py_start = *_py_start;
            } else {
                if (has_cstart) {
                    owned_start = py_start = PyInt_FromSsize_t(cstart);
                    if (unlikely(!py_start)) goto bad;
                } else
                    py_start = Py_None;
            }
            if (_py_stop) {
                py_stop = *_py_stop;
            } else {
                if (has_cstop) {
                    owned_stop = py_stop = PyInt_FromSsize_t(cstop);
                    if (unlikely(!py_stop)) {
                        Py_XDECREF(owned_start);
                        goto bad;
                    }
                } else
                    py_stop = Py_None;
            }
            py_slice = PySlice_New(py_start, py_stop, Py_None);
            Py_XDECREF(owned_start);
            Py_XDECREF(owned_stop);
            if (unlikely(!py_slice)) goto bad;
        }
#if CYTHON_USE_TYPE_SLOTS
        result = mp->mp_subscript(obj, py_slice);
#else
        result = PyObject_GetItem(obj, py_slice);
#endif
        if (!_py_slice) {
            Py_DECREF(py_slice);
        }
        return result;
    }
    obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj));
    PyErr_Format(PyExc_TypeError,
        "'" __Pyx_FMT_TYPENAME "' object is unsliceable", obj_type_name);
    __Pyx_DECREF_TypeName(obj_type_name);
bad:
    return NULL;
}

/* PyIntCompare */
static CYTHON_INLINE int __Pyx_PyInt_BoolEqCObj(PyObject *op1, PyObject *op2, long intval, long inplace) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_UNUSED_VAR(inplace);
    if (op1 == op2) {
        return 1;
    }
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op2))) {
        const long a = intval;
        long b = PyInt_AS_LONG(op2);
        return (a == b);
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op2))) {
        int unequal;
        unsigned long uintval;
        Py_ssize_t size = __Pyx_PyLong_DigitCount(op2);
        const digit* digits = __Pyx_PyLong_Digits(op2);
        if (intval == 0) {
            return (__Pyx_PyLong_IsZero(op2) == 1);
        } else if (intval < 0) {
            if (__Pyx_PyLong_IsNonNeg(op2))
                return 0;
            intval = -intval;
        } else {
            if (__Pyx_PyLong_IsNeg(op2))
                return 0;
        }
        uintval = (unsigned long) intval;
#if PyLong_SHIFT * 4 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 4)) {
            unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 3 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 3)) {
            unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 2 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 2)) {
            unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 1 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 1)) {
            unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
            unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK));
        return (unequal == 0);
    }
    #endif
    if (PyFloat_CheckExact(op2)) {
        const long a = intval;
#if CYTHON_COMPILING_IN_LIMITED_API
        double b = __pyx_PyFloat_AsDouble(op2);
#else
        double b = PyFloat_AS_DOUBLE(op2);
#endif
        return ((double)a == (double)b);
    }
    return __Pyx_PyObject_IsTrueAndDecref(
        PyObject_RichCompare(op1, op2, Py_EQ));
}

/* PyIntCompare */
static CYTHON_INLINE int __Pyx_PyInt_BoolNeCObj(PyObject *op1, PyObject *op2, long intval, long inplace) {
    CYTHON_MAYBE_UNUSED_VAR(intval);
    CYTHON_UNUSED_VAR(inplace);
    if (op1 == op2) {
        return 0;
    }
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op2))) {
        const long a = intval;
        long b = PyInt_AS_LONG(op2);
        return (a != b);
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op2))) {
        int unequal;
        unsigned long uintval;
        Py_ssize_t size = __Pyx_PyLong_DigitCount(op2);
        const digit* digits = __Pyx_PyLong_Digits(op2);
        if (intval == 0) {
            return (__Pyx_PyLong_IsZero(op2) != 1);
        } else if (intval < 0) {
            if (__Pyx_PyLong_IsNonNeg(op2))
                return 1;
            intval = -intval;
        } else {
            if (__Pyx_PyLong_IsNeg(op2))
                return 1;
        }
        uintval = (unsigned long) intval;
#if PyLong_SHIFT * 4 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 4)) {
            unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 3 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 3)) {
            unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 2 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 2)) {
            unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 1 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 1)) {
            unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
            unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK));
        return (unequal != 0);
    }
    #endif
    if (PyFloat_CheckExact(op2)) {
        const long a = intval;
#if CYTHON_COMPILING_IN_LIMITED_API
        double b = __pyx_PyFloat_AsDouble(op2);
#else
        double b = PyFloat_AS_DOUBLE(op2);
#endif
        return ((double)a != (double)b);
    }
    return __Pyx_PyObject_IsTrueAndDecref(
        PyObject_RichCompare(op1, op2, Py_NE));
}

/* DictGetItem */
#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY
static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) {
    PyObject *value;
    value = PyDict_GetItemWithError(d, key);
    if (unlikely(!value)) {
        if (!PyErr_Occurred()) {
            if (unlikely(PyTuple_Check(key))) {
                PyObject* args = PyTuple_Pack(1, key);
                if (likely(args)) {
                    PyErr_SetObject(PyExc_KeyError, args);
                    Py_DECREF(args);
                }
            } else {
                PyErr_SetObject(PyExc_KeyError, key);
            }
        }
        return NULL;
    }
    Py_INCREF(value);
    return value;
}
#endif

/* ValidateBasesTuple */
#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS
static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) {
    Py_ssize_t i, n;
#if CYTHON_ASSUME_SAFE_MACROS
    n = PyTuple_GET_SIZE(bases);
#else
    n = PyTuple_Size(bases);
    if (n < 0) return -1;
#endif
    for (i = 1; i < n; i++)
    {
#if CYTHON_AVOID_BORROWED_REFS
        PyObject *b0 = PySequence_GetItem(bases, i);
        if (!b0) return -1;
#elif CYTHON_ASSUME_SAFE_MACROS
        PyObject *b0 = PyTuple_GET_ITEM(bases, i);
#else
        PyObject *b0 = PyTuple_GetItem(bases, i);
        if (!b0) return -1;
#endif
        PyTypeObject *b;
#if PY_MAJOR_VERSION < 3
        if (PyClass_Check(b0))
        {
            PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class",
                         PyString_AS_STRING(((PyClassObject*)b0)->cl_name));
#if CYTHON_AVOID_BORROWED_REFS
            Py_DECREF(b0);
#endif
            return -1;
        }
#endif
        b = (PyTypeObject*) b0;
        if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE))
        {
            __Pyx_TypeName b_name = __Pyx_PyType_GetName(b);
            PyErr_Format(PyExc_TypeError,
                "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name);
            __Pyx_DECREF_TypeName(b_name);
#if CYTHON_AVOID_BORROWED_REFS
            Py_DECREF(b0);
#endif
            return -1;
        }
        if (dictoffset == 0)
        {
            Py_ssize_t b_dictoffset = 0;
#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY
            b_dictoffset = b->tp_dictoffset;
#else
            PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__");
            if (!py_b_dictoffset) goto dictoffset_return;
            b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset);
            Py_DECREF(py_b_dictoffset);
            if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return;
#endif
            if (b_dictoffset) {
                {
                    __Pyx_TypeName b_name = __Pyx_PyType_GetName(b);
                    PyErr_Format(PyExc_TypeError,
                        "extension type '%.200s' has no __dict__ slot, "
                        "but base type '" __Pyx_FMT_TYPENAME "' has: "
                        "either add 'cdef dict __dict__' to the extension type "
                        "or add '__slots__ = [...]' to the base type",
                        type_name, b_name);
                    __Pyx_DECREF_TypeName(b_name);
                }
#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY)
              dictoffset_return:
#endif
#if CYTHON_AVOID_BORROWED_REFS
                Py_DECREF(b0);
#endif
                return -1;
            }
        }
#if CYTHON_AVOID_BORROWED_REFS
        Py_DECREF(b0);
#endif
    }
    return 0;
}
#endif

/* PyType_Ready */
static int __Pyx_PyType_Ready(PyTypeObject *t) {
#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION)
    (void)__Pyx_PyObject_CallMethod0;
#if CYTHON_USE_TYPE_SPECS
    (void)__Pyx_validate_bases_tuple;
#endif
    return PyType_Ready(t);
#else
    int r;
    PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*);
    if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1))
        return -1;
#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION)
    {
        int gc_was_enabled;
    #if PY_VERSION_HEX >= 0x030A00b1
        gc_was_enabled = PyGC_Disable();
        (void)__Pyx_PyObject_CallMethod0;
    #else
        PyObject *ret, *py_status;
        PyObject *gc = NULL;
        #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400)
        gc = PyImport_GetModule(__pyx_kp_u_gc);
        #endif
        if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc);
        if (unlikely(!gc)) return -1;
        py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled);
        if (unlikely(!py_status)) {
            Py_DECREF(gc);
            return -1;
        }
        gc_was_enabled = __Pyx_PyObject_IsTrue(py_status);
        Py_DECREF(py_status);
        if (gc_was_enabled > 0) {
            ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable);
            if (unlikely(!ret)) {
                Py_DECREF(gc);
                return -1;
            }
            Py_DECREF(ret);
        } else if (unlikely(gc_was_enabled == -1)) {
            Py_DECREF(gc);
            return -1;
        }
    #endif
        t->tp_flags |= Py_TPFLAGS_HEAPTYPE;
#if PY_VERSION_HEX >= 0x030A0000
        t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE;
#endif
#else
        (void)__Pyx_PyObject_CallMethod0;
#endif
    r = PyType_Ready(t);
#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION)
        t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE;
    #if PY_VERSION_HEX >= 0x030A00b1
        if (gc_was_enabled)
            PyGC_Enable();
    #else
        if (gc_was_enabled) {
            PyObject *tp, *v, *tb;
            PyErr_Fetch(&tp, &v, &tb);
            ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable);
            if (likely(ret || r == -1)) {
                Py_XDECREF(ret);
                PyErr_Restore(tp, v, tb);
            } else {
                Py_XDECREF(tp);
                Py_XDECREF(v);
                Py_XDECREF(tb);
                r = -1;
            }
        }
        Py_DECREF(gc);
    #endif
    }
#endif
    return r;
#endif
}

/* PyObject_GenericGetAttrNoDict */
#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000
static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) {
    __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp);
    PyErr_Format(PyExc_AttributeError,
#if PY_MAJOR_VERSION >= 3
                 "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'",
                 type_name, attr_name);
#else
                 "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'",
                 type_name, PyString_AS_STRING(attr_name));
#endif
    __Pyx_DECREF_TypeName(type_name);
    return NULL;
}
static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) {
    PyObject *descr;
    PyTypeObject *tp = Py_TYPE(obj);
    if (unlikely(!PyString_Check(attr_name))) {
        return PyObject_GenericGetAttr(obj, attr_name);
    }
    assert(!tp->tp_dictoffset);
    descr = _PyType_Lookup(tp, attr_name);
    if (unlikely(!descr)) {
        return __Pyx_RaiseGenericGetAttributeError(tp, attr_name);
    }
    Py_INCREF(descr);
    #if PY_MAJOR_VERSION < 3
    if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS)))
    #endif
    {
        descrgetfunc f = Py_TYPE(descr)->tp_descr_get;
        if (unlikely(f)) {
            PyObject *res = f(descr, obj, (PyObject *)tp);
            Py_DECREF(descr);
            return res;
        }
    }
    return descr;
}
#endif

/* Import */
static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) {
    PyObject *module = 0;
    PyObject *empty_dict = 0;
    PyObject *empty_list = 0;
    #if PY_MAJOR_VERSION < 3
    PyObject *py_import;
    py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import);
    if (unlikely(!py_import))
        goto bad;
    if (!from_list) {
        empty_list = PyList_New(0);
        if (unlikely(!empty_list))
            goto bad;
        from_list = empty_list;
    }
    #endif
    empty_dict = PyDict_New();
    if (unlikely(!empty_dict))
        goto bad;
    {
        #if PY_MAJOR_VERSION >= 3
        if (level == -1) {
            if (strchr(__Pyx_MODULE_NAME, '.') != NULL) {
                module = PyImport_ImportModuleLevelObject(
                    name, __pyx_d, empty_dict, from_list, 1);
                if (unlikely(!module)) {
                    if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError)))
                        goto bad;
                    PyErr_Clear();
                }
            }
            level = 0;
        }
        #endif
        if (!module) {
            #if PY_MAJOR_VERSION < 3
            PyObject *py_level = PyInt_FromLong(level);
            if (unlikely(!py_level))
                goto bad;
            module = PyObject_CallFunctionObjArgs(py_import,
                name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL);
            Py_DECREF(py_level);
            #else
            module = PyImport_ImportModuleLevelObject(
                name, __pyx_d, empty_dict, from_list, level);
            #endif
        }
    }
bad:
    Py_XDECREF(empty_dict);
    Py_XDECREF(empty_list);
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(py_import);
    #endif
    return module;
}

/* ImportDottedModule */
#if PY_MAJOR_VERSION >= 3
static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) {
    PyObject *partial_name = NULL, *slice = NULL, *sep = NULL;
    if (unlikely(PyErr_Occurred())) {
        PyErr_Clear();
    }
    if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) {
        partial_name = name;
    } else {
        slice = PySequence_GetSlice(parts_tuple, 0, count);
        if (unlikely(!slice))
            goto bad;
        sep = PyUnicode_FromStringAndSize(".", 1);
        if (unlikely(!sep))
            goto bad;
        partial_name = PyUnicode_Join(sep, slice);
    }
    PyErr_Format(
#if PY_MAJOR_VERSION < 3
        PyExc_ImportError,
        "No module named '%s'", PyString_AS_STRING(partial_name));
#else
#if PY_VERSION_HEX >= 0x030600B1
        PyExc_ModuleNotFoundError,
#else
        PyExc_ImportError,
#endif
        "No module named '%U'", partial_name);
#endif
bad:
    Py_XDECREF(sep);
    Py_XDECREF(slice);
    Py_XDECREF(partial_name);
    return NULL;
}
#endif
#if PY_MAJOR_VERSION >= 3
static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) {
    PyObject *imported_module;
#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM  < 0x07030400)
    PyObject *modules = PyImport_GetModuleDict();
    if (unlikely(!modules))
        return NULL;
    imported_module = __Pyx_PyDict_GetItemStr(modules, name);
    Py_XINCREF(imported_module);
#else
    imported_module = PyImport_GetModule(name);
#endif
    return imported_module;
}
#endif
#if PY_MAJOR_VERSION >= 3
static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) {
    Py_ssize_t i, nparts;
    nparts = PyTuple_GET_SIZE(parts_tuple);
    for (i=1; i < nparts && module; i++) {
        PyObject *part, *submodule;
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
        part = PyTuple_GET_ITEM(parts_tuple, i);
#else
        part = PySequence_ITEM(parts_tuple, i);
#endif
        submodule = __Pyx_PyObject_GetAttrStrNoError(module, part);
#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS)
        Py_DECREF(part);
#endif
        Py_DECREF(module);
        module = submodule;
    }
    if (unlikely(!module)) {
        return __Pyx__ImportDottedModule_Error(name, parts_tuple, i);
    }
    return module;
}
#endif
static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) {
#if PY_MAJOR_VERSION < 3
    PyObject *module, *from_list, *star = __pyx_n_s__39;
    CYTHON_UNUSED_VAR(parts_tuple);
    from_list = PyList_New(1);
    if (unlikely(!from_list))
        return NULL;
    Py_INCREF(star);
    PyList_SET_ITEM(from_list, 0, star);
    module = __Pyx_Import(name, from_list, 0);
    Py_DECREF(from_list);
    return module;
#else
    PyObject *imported_module;
    PyObject *module = __Pyx_Import(name, NULL, 0);
    if (!parts_tuple || unlikely(!module))
        return module;
    imported_module = __Pyx__ImportDottedModule_Lookup(name);
    if (likely(imported_module)) {
        Py_DECREF(module);
        return imported_module;
    }
    PyErr_Clear();
    return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple);
#endif
}
static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) {
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1
    PyObject *module = __Pyx__ImportDottedModule_Lookup(name);
    if (likely(module)) {
        PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec);
        if (likely(spec)) {
            PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing);
            if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) {
                Py_DECREF(spec);
                spec = NULL;
            }
            Py_XDECREF(unsafe);
        }
        if (likely(!spec)) {
            PyErr_Clear();
            return module;
        }
        Py_DECREF(spec);
        Py_DECREF(module);
    } else if (PyErr_Occurred()) {
        PyErr_Clear();
    }
#endif
    return __Pyx__ImportDottedModule(name, parts_tuple);
}

/* ImportFrom */
static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) {
    PyObject* value = __Pyx_PyObject_GetAttrStr(module, name);
    if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) {
        const char* module_name_str = 0;
        PyObject* module_name = 0;
        PyObject* module_dot = 0;
        PyObject* full_name = 0;
        PyErr_Clear();
        module_name_str = PyModule_GetName(module);
        if (unlikely(!module_name_str)) { goto modbad; }
        module_name = PyUnicode_FromString(module_name_str);
        if (unlikely(!module_name)) { goto modbad; }
        module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__29);
        if (unlikely(!module_dot)) { goto modbad; }
        full_name = PyUnicode_Concat(module_dot, name);
        if (unlikely(!full_name)) { goto modbad; }
        #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM  < 0x07030400)
        {
            PyObject *modules = PyImport_GetModuleDict();
            if (unlikely(!modules))
                goto modbad;
            value = PyObject_GetItem(modules, full_name);
        }
        #else
        value = PyImport_GetModule(full_name);
        #endif
      modbad:
        Py_XDECREF(full_name);
        Py_XDECREF(module_dot);
        Py_XDECREF(module_name);
    }
    if (unlikely(!value)) {
        PyErr_Format(PyExc_ImportError,
        #if PY_MAJOR_VERSION < 3
            "cannot import name %.230s", PyString_AS_STRING(name));
        #else
            "cannot import name %S", name);
        #endif
    }
    return value;
}

/* Py3UpdateBases */
static PyObject*
__Pyx_PEP560_update_bases(PyObject *bases)
{
    Py_ssize_t i, j, size_bases;
    PyObject *base, *meth, *new_base, *result, *new_bases = NULL;
    size_bases = PyTuple_GET_SIZE(bases);
    for (i = 0; i < size_bases; i++) {
        base  = PyTuple_GET_ITEM(bases, i);
        if (PyType_Check(base)) {
            if (new_bases) {
                if (PyList_Append(new_bases, base) < 0) {
                    goto error;
                }
            }
            continue;
        }
        meth = __Pyx_PyObject_GetAttrStrNoError(base, __pyx_n_s_mro_entries);
        if (!meth && PyErr_Occurred()) {
            goto error;
        }
        if (!meth) {
            if (new_bases) {
                if (PyList_Append(new_bases, base) < 0) {
                    goto error;
                }
            }
            continue;
        }
        new_base = __Pyx_PyObject_CallOneArg(meth, bases);
        Py_DECREF(meth);
        if (!new_base) {
            goto error;
        }
        if (!PyTuple_Check(new_base)) {
            PyErr_SetString(PyExc_TypeError,
                            "__mro_entries__ must return a tuple");
            Py_DECREF(new_base);
            goto error;
        }
        if (!new_bases) {
            if (!(new_bases = PyList_New(i))) {
                goto error;
            }
            for (j = 0; j < i; j++) {
                base = PyTuple_GET_ITEM(bases, j);
                PyList_SET_ITEM(new_bases, j, base);
                Py_INCREF(base);
            }
        }
        j = PyList_GET_SIZE(new_bases);
        if (PyList_SetSlice(new_bases, j, j, new_base) < 0) {
            goto error;
        }
        Py_DECREF(new_base);
    }
    if (!new_bases) {
        Py_INCREF(bases);
        return bases;
    }
    result = PyList_AsTuple(new_bases);
    Py_DECREF(new_bases);
    return result;
error:
    Py_XDECREF(new_bases);
    return NULL;
}

/* CalculateMetaclass */
static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) {
    Py_ssize_t i, nbases;
#if CYTHON_ASSUME_SAFE_MACROS
    nbases = PyTuple_GET_SIZE(bases);
#else
    nbases = PyTuple_Size(bases);
    if (nbases < 0) return NULL;
#endif
    for (i=0; i < nbases; i++) {
        PyTypeObject *tmptype;
#if CYTHON_ASSUME_SAFE_MACROS
        PyObject *tmp = PyTuple_GET_ITEM(bases, i);
#else
        PyObject *tmp = PyTuple_GetItem(bases, i);
        if (!tmp) return NULL;
#endif
        tmptype = Py_TYPE(tmp);
#if PY_MAJOR_VERSION < 3
        if (tmptype == &PyClass_Type)
            continue;
#endif
        if (!metaclass) {
            metaclass = tmptype;
            continue;
        }
        if (PyType_IsSubtype(metaclass, tmptype))
            continue;
        if (PyType_IsSubtype(tmptype, metaclass)) {
            metaclass = tmptype;
            continue;
        }
        PyErr_SetString(PyExc_TypeError,
                        "metaclass conflict: "
                        "the metaclass of a derived class "
                        "must be a (non-strict) subclass "
                        "of the metaclasses of all its bases");
        return NULL;
    }
    if (!metaclass) {
#if PY_MAJOR_VERSION < 3
        metaclass = &PyClass_Type;
#else
        metaclass = &PyType_Type;
#endif
    }
    Py_INCREF((PyObject*) metaclass);
    return (PyObject*) metaclass;
}

/* Py3ClassCreate */
static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name,
                                           PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) {
    PyObject *ns;
    if (metaclass) {
        PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare);
        if (prep) {
            PyObject *pargs[3] = {NULL, name, bases};
            ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw);
            Py_DECREF(prep);
        } else {
            if (unlikely(PyErr_Occurred()))
                return NULL;
            ns = PyDict_New();
        }
    } else {
        ns = PyDict_New();
    }
    if (unlikely(!ns))
        return NULL;
    if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad;
#if PY_VERSION_HEX >= 0x03030000
    if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad;
#else
    CYTHON_MAYBE_UNUSED_VAR(qualname);
#endif
    if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad;
    return ns;
bad:
    Py_DECREF(ns);
    return NULL;
}
#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS
static int __Pyx_SetNamesPEP487(PyObject *type_obj) {
    PyTypeObject *type = (PyTypeObject*) type_obj;
    PyObject *names_to_set, *key, *value, *set_name, *tmp;
    Py_ssize_t i = 0;
#if CYTHON_USE_TYPE_SLOTS
    names_to_set = PyDict_Copy(type->tp_dict);
#else
    {
        PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict);
        names_to_set = NULL;
        if (likely(d)) {
            PyObject *names_to_set = PyDict_New();
            int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1;
            Py_DECREF(d);
            if (unlikely(ret < 0))
                Py_CLEAR(names_to_set);
        }
    }
#endif
    if (unlikely(names_to_set == NULL))
        goto bad;
    while (PyDict_Next(names_to_set, &i, &key, &value)) {
        set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name);
        if (unlikely(set_name != NULL)) {
            tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key);
            Py_DECREF(set_name);
            if (unlikely(tmp == NULL)) {
                __Pyx_TypeName value_type_name =
                    __Pyx_PyType_GetName(Py_TYPE(value));
                __Pyx_TypeName type_name = __Pyx_PyType_GetName(type);
                PyErr_Format(PyExc_RuntimeError,
#if PY_MAJOR_VERSION >= 3
                    "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'",
                    value_type_name, key, type_name);
#else
                    "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'",
                    value_type_name,
                    PyString_Check(key) ? PyString_AS_STRING(key) : "?",
                    type_name);
#endif
                goto bad;
            } else {
                Py_DECREF(tmp);
            }
        }
        else if (unlikely(PyErr_Occurred())) {
            goto bad;
        }
    }
    Py_DECREF(names_to_set);
    return 0;
bad:
    Py_XDECREF(names_to_set);
    return -1;
}
static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) {
#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
    PyTypeObject *type = (PyTypeObject*) type_obj;
    PyObject *mro = type->tp_mro;
    Py_ssize_t i, nbases;
    if (unlikely(!mro)) goto done;
    (void) &__Pyx_GetBuiltinName;
    Py_INCREF(mro);
    nbases = PyTuple_GET_SIZE(mro);
    assert(PyTuple_GET_ITEM(mro, 0) == type_obj);
    for (i = 1; i < nbases-1; i++) {
        PyObject *base, *dict, *meth;
        base = PyTuple_GET_ITEM(mro, i);
        dict = ((PyTypeObject *)base)->tp_dict;
        meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass);
        if (unlikely(meth)) {
            descrgetfunc f = Py_TYPE(meth)->tp_descr_get;
            PyObject *res;
            Py_INCREF(meth);
            if (likely(f)) {
                res = f(meth, NULL, type_obj);
                Py_DECREF(meth);
                if (unlikely(!res)) goto bad;
                meth = res;
            }
            res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw);
            Py_DECREF(meth);
            if (unlikely(!res)) goto bad;
            Py_DECREF(res);
            goto done;
        } else if (unlikely(PyErr_Occurred())) {
            goto bad;
        }
    }
done:
    Py_XDECREF(mro);
    return type_obj;
bad:
    Py_XDECREF(mro);
    Py_DECREF(type_obj);
    return NULL;
#else
    PyObject *super_type, *super, *func, *res;
#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type)
    super_type = __Pyx_GetBuiltinName(__pyx_n_s_super);
#else
    super_type = (PyObject*) &PySuper_Type;
    (void) &__Pyx_GetBuiltinName;
#endif
    super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL;
#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type)
    Py_XDECREF(super_type);
#endif
    if (unlikely(!super)) {
        Py_CLEAR(type_obj);
        goto done;
    }
    func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass);
    Py_DECREF(super);
    if (likely(!func)) {
        if (unlikely(PyErr_Occurred()))
            Py_CLEAR(type_obj);
        goto done;
    }
    res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw);
    Py_DECREF(func);
    if (unlikely(!res))
        Py_CLEAR(type_obj);
    Py_XDECREF(res);
done:
    return type_obj;
#endif
}
#endif
static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases,
                                      PyObject *dict, PyObject *mkw,
                                      int calculate_metaclass, int allow_py2_metaclass) {
    PyObject *result;
    PyObject *owned_metaclass = NULL;
    PyObject *margs[4] = {NULL, name, bases, dict};
    if (allow_py2_metaclass) {
        owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass);
        if (owned_metaclass) {
            metaclass = owned_metaclass;
        } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) {
            PyErr_Clear();
        } else {
            return NULL;
        }
    }
    if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) {
        metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases);
        Py_XDECREF(owned_metaclass);
        if (unlikely(!metaclass))
            return NULL;
        owned_metaclass = metaclass;
    }
    result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET,
#if PY_VERSION_HEX < 0x030600A4
        (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw
#else
        mkw
#endif
    );
    Py_XDECREF(owned_metaclass);
#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS
    if (likely(result) && likely(PyType_Check(result))) {
        if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) {
            Py_CLEAR(result);
        } else {
            result = __Pyx_InitSubclassPEP487(result, mkw);
        }
    }
#else
    (void) &__Pyx_GetBuiltinName;
#endif
    return result;
}

/* CyFunctionClassCell */
static int __Pyx_CyFunction_InitClassCell(PyObject *cyfunctions, PyObject *classobj) {
    Py_ssize_t i, count = PyList_GET_SIZE(cyfunctions);
    for (i = 0; i < count; i++) {
        __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *)
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
            PyList_GET_ITEM(cyfunctions, i);
#else
            PySequence_ITEM(cyfunctions, i);
        if (unlikely(!m))
            return -1;
#endif
        __Pyx_CyFunction_SetClassObj(m, classobj);
#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS)
        Py_DECREF((PyObject*)m);
#endif
    }
    return 0;
}

/* CLineInTraceback */
#ifndef CYTHON_CLINE_IN_TRACEBACK
static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) {
    PyObject *use_cline;
    PyObject *ptype, *pvalue, *ptraceback;
#if CYTHON_COMPILING_IN_CPYTHON
    PyObject **cython_runtime_dict;
#endif
    CYTHON_MAYBE_UNUSED_VAR(tstate);
    if (unlikely(!__pyx_cython_runtime)) {
        return c_line;
    }
    __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback);
#if CYTHON_COMPILING_IN_CPYTHON
    cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime);
    if (likely(cython_runtime_dict)) {
        __PYX_PY_DICT_LOOKUP_IF_MODIFIED(
            use_cline, *cython_runtime_dict,
            __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback))
    } else
#endif
    {
      PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback);
      if (use_cline_obj) {
        use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True;
        Py_DECREF(use_cline_obj);
      } else {
        PyErr_Clear();
        use_cline = NULL;
      }
    }
    if (!use_cline) {
        c_line = 0;
        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
    }
    __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback);
    return c_line;
}
#endif

/* CodeObjectCache */
#if !CYTHON_COMPILING_IN_LIMITED_API
static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) {
    int start = 0, mid = 0, end = count - 1;
    if (end >= 0 && code_line > entries[end].code_line) {
        return count;
    }
    while (start < end) {
        mid = start + (end - start) / 2;
        if (code_line < entries[mid].code_line) {
            end = mid;
        } else if (code_line > entries[mid].code_line) {
             start = mid + 1;
        } else {
            return mid;
        }
    }
    if (code_line <= entries[mid].code_line) {
        return mid;
    } else {
        return mid + 1;
    }
}
static PyCodeObject *__pyx_find_code_object(int code_line) {
    PyCodeObject* code_object;
    int pos;
    if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) {
        return NULL;
    }
    pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line);
    if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) {
        return NULL;
    }
    code_object = __pyx_code_cache.entries[pos].code_object;
    Py_INCREF(code_object);
    return code_object;
}
static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
    int pos, i;
    __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries;
    if (unlikely(!code_line)) {
        return;
    }
    if (unlikely(!entries)) {
        entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry));
        if (likely(entries)) {
            __pyx_code_cache.entries = entries;
            __pyx_code_cache.max_count = 64;
            __pyx_code_cache.count = 1;
            entries[0].code_line = code_line;
            entries[0].code_object = code_object;
            Py_INCREF(code_object);
        }
        return;
    }
    pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line);
    if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) {
        PyCodeObject* tmp = entries[pos].code_object;
        entries[pos].code_object = code_object;
        Py_DECREF(tmp);
        return;
    }
    if (__pyx_code_cache.count == __pyx_code_cache.max_count) {
        int new_max = __pyx_code_cache.max_count + 64;
        entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc(
            __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry));
        if (unlikely(!entries)) {
            return;
        }
        __pyx_code_cache.entries = entries;
        __pyx_code_cache.max_count = new_max;
    }
    for (i=__pyx_code_cache.count; i>pos; i--) {
        entries[i] = entries[i-1];
    }
    entries[pos].code_line = code_line;
    entries[pos].code_object = code_object;
    __pyx_code_cache.count++;
    Py_INCREF(code_object);
}
#endif

/* AddTraceback */
#include "compile.h"
#include "frameobject.h"
#include "traceback.h"
#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API
  #ifndef Py_BUILD_CORE
    #define Py_BUILD_CORE 1
  #endif
  #include "internal/pycore_frame.h"
#endif
#if CYTHON_COMPILING_IN_LIMITED_API
static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict,
                                                       PyObject *firstlineno, PyObject *name) {
    PyObject *replace = NULL;
    if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL;
    if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL;
    replace = PyObject_GetAttrString(code, "replace");
    if (likely(replace)) {
        PyObject *result;
        result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict);
        Py_DECREF(replace);
        return result;
    }
    PyErr_Clear();
    #if __PYX_LIMITED_VERSION_HEX < 0x030780000
    {
        PyObject *compiled = NULL, *result = NULL;
        if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL;
        if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL;
        compiled = Py_CompileString(
            "out = type(code)(\n"
            "  code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n"
            "  code.co_flags, code.co_code, code.co_consts, code.co_names,\n"
            "  code.co_varnames, code.co_filename, co_name, co_firstlineno,\n"
            "  code.co_lnotab)\n", "<dummy>", Py_file_input);
        if (!compiled) return NULL;
        result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict);
        Py_DECREF(compiled);
        if (!result) PyErr_Print();
        Py_DECREF(result);
        result = PyDict_GetItemString(scratch_dict, "out");
        if (result) Py_INCREF(result);
        return result;
    }
    #else
    return NULL;
    #endif
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
                               int py_line, const char *filename) {
    PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL;
    PyObject *replace = NULL, *getframe = NULL, *frame = NULL;
    PyObject *exc_type, *exc_value, *exc_traceback;
    int success = 0;
    if (c_line) {
        (void) __pyx_cfilenm;
        (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line);
    }
    PyErr_Fetch(&exc_type, &exc_value, &exc_traceback);
    code_object = Py_CompileString("_getframe()", filename, Py_eval_input);
    if (unlikely(!code_object)) goto bad;
    py_py_line = PyLong_FromLong(py_line);
    if (unlikely(!py_py_line)) goto bad;
    py_funcname = PyUnicode_FromString(funcname);
    if (unlikely(!py_funcname)) goto bad;
    dict = PyDict_New();
    if (unlikely(!dict)) goto bad;
    {
        PyObject *old_code_object = code_object;
        code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname);
        Py_DECREF(old_code_object);
    }
    if (unlikely(!code_object)) goto bad;
    getframe = PySys_GetObject("_getframe");
    if (unlikely(!getframe)) goto bad;
    if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad;
    frame = PyEval_EvalCode(code_object, dict, dict);
    if (unlikely(!frame) || frame == Py_None) goto bad;
    success = 1;
  bad:
    PyErr_Restore(exc_type, exc_value, exc_traceback);
    Py_XDECREF(code_object);
    Py_XDECREF(py_py_line);
    Py_XDECREF(py_funcname);
    Py_XDECREF(dict);
    Py_XDECREF(replace);
    if (success) {
        PyTraceBack_Here(
            (struct _frame*)frame);
    }
    Py_XDECREF(frame);
}
#else
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
    PyCodeObject *py_code = NULL;
    PyObject *py_funcname = NULL;
    #if PY_MAJOR_VERSION < 3
    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
    if (!py_srcfile) goto bad;
    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        funcname = PyUnicode_AsUTF8(py_funcname);
        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
        if (!py_funcname) goto bad;
        #endif
    }
    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
        0,
        0,
        0,
        0,
        __pyx_empty_bytes, /*PyObject *code,*/
        __pyx_empty_tuple, /*PyObject *consts,*/
        __pyx_empty_tuple, /*PyObject *names,*/
        __pyx_empty_tuple, /*PyObject *varnames,*/
        __pyx_empty_tuple, /*PyObject *freevars,*/
        __pyx_empty_tuple, /*PyObject *cellvars,*/
        py_srcfile,   /*PyObject *filename,*/
        py_funcname,  /*PyObject *name,*/
        py_line,
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
    #else
    py_code = PyCode_NewEmpty(filename, funcname, py_line);
    #endif
    Py_XDECREF(py_funcname);
    return py_code;
bad:
    Py_XDECREF(py_funcname);
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(py_srcfile);
    #endif
    return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
                               int py_line, const char *filename) {
    PyCodeObject *py_code = 0;
    PyFrameObject *py_frame = 0;
    PyThreadState *tstate = __Pyx_PyThreadState_Current;
    PyObject *ptype, *pvalue, *ptraceback;
    if (c_line) {
        c_line = __Pyx_CLineForTraceback(tstate, c_line);
    }
    py_code = __pyx_find_code_object(c_line ? -c_line : py_line);
    if (!py_code) {
        __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback);
        py_code = __Pyx_CreateCodeObjectForTraceback(
            funcname, c_line, py_line, filename);
        if (!py_code) {
            /* If the code object creation fails, then we should clear the
               fetched exception references and propagate the new exception */
            Py_XDECREF(ptype);
            Py_XDECREF(pvalue);
            Py_XDECREF(ptraceback);
            goto bad;
        }
        __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback);
        __pyx_insert_code_object(c_line ? -c_line : py_line, py_code);
    }
    py_frame = PyFrame_New(
        tstate,            /*PyThreadState *tstate,*/
        py_code,           /*PyCodeObject *code,*/
        __pyx_d,    /*PyObject *globals,*/
        0                  /*PyObject *locals*/
    );
    if (!py_frame) goto bad;
    __Pyx_PyFrame_SetLineNumber(py_frame, py_line);
    PyTraceBack_Here(py_frame);
bad:
    Py_XDECREF(py_code);
    Py_XDECREF(py_frame);
}
#endif

/* CIntFromPyVerify */
#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\
    __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0)
#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\
    __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1)
#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\
    {\
        func_type value = func_value;\
        if (sizeof(target_type) < sizeof(func_type)) {\
            if (unlikely(value != (func_type) (target_type) value)) {\
                func_type zero = 0;\
                if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\
                    return (target_type) -1;\
                if (is_unsigned && unlikely(value < zero))\
                    goto raise_neg_overflow;\
                else\
                    goto raise_overflow;\
            }\
        }\
        return (target_type) value;\
    }

/* CIntToPy */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const long neg_one = (long) -1, const_zero = (long) 0;
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic pop
#endif
    const int is_unsigned = neg_one > const_zero;
    if (is_unsigned) {
        if (sizeof(long) < sizeof(long)) {
            return PyInt_FromLong((long) value);
        } else if (sizeof(long) <= sizeof(unsigned long)) {
            return PyLong_FromUnsignedLong((unsigned long) value);
#ifdef HAVE_LONG_LONG
        } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) {
            return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value);
#endif
        }
    } else {
        if (sizeof(long) <= sizeof(long)) {
            return PyInt_FromLong((long) value);
#ifdef HAVE_LONG_LONG
        } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) {
            return PyLong_FromLongLong((PY_LONG_LONG) value);
#endif
        }
    }
    {
        unsigned char *bytes = (unsigned char *)&value;
#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX >= 0x030d00A4
        if (is_unsigned) {
            return PyLong_FromUnsignedNativeBytes(bytes, sizeof(value), -1);
        } else {
            return PyLong_FromNativeBytes(bytes, sizeof(value), -1);
        }
#elif !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000
        int one = 1; int little = (int)*(unsigned char *)&one;
        return _PyLong_FromByteArray(bytes, sizeof(long),
                                     little, !is_unsigned);
#else
        int one = 1; int little = (int)*(unsigned char *)&one;
        PyObject *from_bytes, *result = NULL;
        PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL;
        from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes");
        if (!from_bytes) return NULL;
        py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long));
        if (!py_bytes) goto limited_bad;
        order_str = PyUnicode_FromString(little ? "little" : "big");
        if (!order_str) goto limited_bad;
        arg_tuple = PyTuple_Pack(2, py_bytes, order_str);
        if (!arg_tuple) goto limited_bad;
        if (!is_unsigned) {
            kwds = PyDict_New();
            if (!kwds) goto limited_bad;
            if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad;
        }
        result = PyObject_Call(from_bytes, arg_tuple, kwds);
        limited_bad:
        Py_XDECREF(kwds);
        Py_XDECREF(arg_tuple);
        Py_XDECREF(order_str);
        Py_XDECREF(py_bytes);
        Py_XDECREF(from_bytes);
        return result;
#endif
    }
}

/* CIntFromPy */
static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const long neg_one = (long) -1, const_zero = (long) 0;
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic pop
#endif
    const int is_unsigned = neg_one > const_zero;
#if PY_MAJOR_VERSION < 3
    if (likely(PyInt_Check(x))) {
        if ((sizeof(long) < sizeof(long))) {
            __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (long) val;
        }
    }
#endif
    if (unlikely(!PyLong_Check(x))) {
        long val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (long) -1;
        val = __Pyx_PyInt_As_long(tmp);
        Py_DECREF(tmp);
        return val;
    }
    if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
        if (unlikely(__Pyx_PyLong_IsNeg(x))) {
            goto raise_neg_overflow;
        } else if (__Pyx_PyLong_IsCompact(x)) {
            __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x))
        } else {
            const digit* digits = __Pyx_PyLong_Digits(x);
            assert(__Pyx_PyLong_DigitCount(x) > 1);
            switch (__Pyx_PyLong_DigitCount(x)) {
                case 2:
                    if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) {
                            return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) {
                            return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) {
                            return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
                        }
                    }
                    break;
            }
        }
#endif
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7
        if (unlikely(Py_SIZE(x) < 0)) {
            goto raise_neg_overflow;
        }
#else
        {
            int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
            if (unlikely(result < 0))
                return (long) -1;
            if (unlikely(result == 1))
                goto raise_neg_overflow;
        }
#endif
        if ((sizeof(long) <= sizeof(unsigned long))) {
            __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
        } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) {
            __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
        }
    } else {
#if CYTHON_USE_PYLONG_INTERNALS
        if (__Pyx_PyLong_IsCompact(x)) {
            __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x))
        } else {
            const digit* digits = __Pyx_PyLong_Digits(x);
            assert(__Pyx_PyLong_DigitCount(x) > 1);
            switch (__Pyx_PyLong_SignedDigitCount(x)) {
                case -2:
                    if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) {
                            return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) {
                            return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) {
                            return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) {
                            return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) {
                            return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) {
                            return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
            }
        }
#endif
        if ((sizeof(long) <= sizeof(long))) {
            __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
        } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) {
            __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
        }
    }
    {
        long val;
        int ret = -1;
#if PY_VERSION_HEX >= 0x030d00A6 && !CYTHON_COMPILING_IN_LIMITED_API
        Py_ssize_t bytes_copied = PyLong_AsNativeBytes(
            x, &val, sizeof(val), Py_ASNATIVEBYTES_NATIVE_ENDIAN | (is_unsigned ? Py_ASNATIVEBYTES_UNSIGNED_BUFFER | Py_ASNATIVEBYTES_REJECT_NEGATIVE : 0));
        if (unlikely(bytes_copied == -1)) {
        } else if (unlikely(bytes_copied > (Py_ssize_t) sizeof(val))) {
            goto raise_overflow;
        } else {
            ret = 0;
        }
#elif PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray)
        int one = 1; int is_little = (int)*(unsigned char *)&one;
        unsigned char *bytes = (unsigned char *)&val;
        ret = _PyLong_AsByteArray((PyLongObject *)x,
                                    bytes, sizeof(val),
                                    is_little, !is_unsigned);
#else
        PyObject *v;
        PyObject *stepval = NULL, *mask = NULL, *shift = NULL;
        int bits, remaining_bits, is_negative = 0;
        int chunk_size = (sizeof(long) < 8) ? 30 : 62;
        if (likely(PyLong_CheckExact(x))) {
            v = __Pyx_NewRef(x);
        } else {
            v = PyNumber_Long(x);
            if (unlikely(!v)) return (long) -1;
            assert(PyLong_CheckExact(v));
        }
        {
            int result = PyObject_RichCompareBool(v, Py_False, Py_LT);
            if (unlikely(result < 0)) {
                Py_DECREF(v);
                return (long) -1;
            }
            is_negative = result == 1;
        }
        if (is_unsigned && unlikely(is_negative)) {
            Py_DECREF(v);
            goto raise_neg_overflow;
        } else if (is_negative) {
            stepval = PyNumber_Invert(v);
            Py_DECREF(v);
            if (unlikely(!stepval))
                return (long) -1;
        } else {
            stepval = v;
        }
        v = NULL;
        val = (long) 0;
        mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done;
        shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done;
        for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) {
            PyObject *tmp, *digit;
            long idigit;
            digit = PyNumber_And(stepval, mask);
            if (unlikely(!digit)) goto done;
            idigit = PyLong_AsLong(digit);
            Py_DECREF(digit);
            if (unlikely(idigit < 0)) goto done;
            val |= ((long) idigit) << bits;
            tmp = PyNumber_Rshift(stepval, shift);
            if (unlikely(!tmp)) goto done;
            Py_DECREF(stepval); stepval = tmp;
        }
        Py_DECREF(shift); shift = NULL;
        Py_DECREF(mask); mask = NULL;
        {
            long idigit = PyLong_AsLong(stepval);
            if (unlikely(idigit < 0)) goto done;
            remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1);
            if (unlikely(idigit >= (1L << remaining_bits)))
                goto raise_overflow;
            val |= ((long) idigit) << bits;
        }
        if (!is_unsigned) {
            if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1))))
                goto raise_overflow;
            if (is_negative)
                val = ~val;
        }
        ret = 0;
    done:
        Py_XDECREF(shift);
        Py_XDECREF(mask);
        Py_XDECREF(stepval);
#endif
        if (unlikely(ret))
            return (long) -1;
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to long");
    return (long) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to long");
    return (long) -1;
}

/* CIntFromPy */
static CYTHON_INLINE unsigned char __Pyx_PyInt_As_unsigned_char(PyObject *x) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const unsigned char neg_one = (unsigned char) -1, const_zero = (unsigned char) 0;
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic pop
#endif
    const int is_unsigned = neg_one > const_zero;
#if PY_MAJOR_VERSION < 3
    if (likely(PyInt_Check(x))) {
        if ((sizeof(unsigned char) < sizeof(long))) {
            __PYX_VERIFY_RETURN_INT(unsigned char, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (unsigned char) val;
        }
    }
#endif
    if (unlikely(!PyLong_Check(x))) {
        unsigned char val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (unsigned char) -1;
        val = __Pyx_PyInt_As_unsigned_char(tmp);
        Py_DECREF(tmp);
        return val;
    }
    if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
        if (unlikely(__Pyx_PyLong_IsNeg(x))) {
            goto raise_neg_overflow;
        } else if (__Pyx_PyLong_IsCompact(x)) {
            __PYX_VERIFY_RETURN_INT(unsigned char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x))
        } else {
            const digit* digits = __Pyx_PyLong_Digits(x);
            assert(__Pyx_PyLong_DigitCount(x) > 1);
            switch (__Pyx_PyLong_DigitCount(x)) {
                case 2:
                    if ((8 * sizeof(unsigned char) > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) >= 2 * PyLong_SHIFT)) {
                            return (unsigned char) (((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if ((8 * sizeof(unsigned char) > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) >= 3 * PyLong_SHIFT)) {
                            return (unsigned char) (((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if ((8 * sizeof(unsigned char) > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) >= 4 * PyLong_SHIFT)) {
                            return (unsigned char) (((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]));
                        }
                    }
                    break;
            }
        }
#endif
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7
        if (unlikely(Py_SIZE(x) < 0)) {
            goto raise_neg_overflow;
        }
#else
        {
            int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
            if (unlikely(result < 0))
                return (unsigned char) -1;
            if (unlikely(result == 1))
                goto raise_neg_overflow;
        }
#endif
        if ((sizeof(unsigned char) <= sizeof(unsigned long))) {
            __PYX_VERIFY_RETURN_INT_EXC(unsigned char, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
        } else if ((sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG))) {
            __PYX_VERIFY_RETURN_INT_EXC(unsigned char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
        }
    } else {
#if CYTHON_USE_PYLONG_INTERNALS
        if (__Pyx_PyLong_IsCompact(x)) {
            __PYX_VERIFY_RETURN_INT(unsigned char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x))
        } else {
            const digit* digits = __Pyx_PyLong_Digits(x);
            assert(__Pyx_PyLong_DigitCount(x) > 1);
            switch (__Pyx_PyLong_SignedDigitCount(x)) {
                case -2:
                    if ((8 * sizeof(unsigned char) - 1 > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT)) {
                            return (unsigned char) (((unsigned char)-1)*(((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if ((8 * sizeof(unsigned char) > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT)) {
                            return (unsigned char) ((((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if ((8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT)) {
                            return (unsigned char) (((unsigned char)-1)*(((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if ((8 * sizeof(unsigned char) > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT)) {
                            return (unsigned char) ((((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if ((8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) - 1 > 4 * PyLong_SHIFT)) {
                            return (unsigned char) (((unsigned char)-1)*(((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if ((8 * sizeof(unsigned char) > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(unsigned char) - 1 > 4 * PyLong_SHIFT)) {
                            return (unsigned char) ((((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])));
                        }
                    }
                    break;
            }
        }
#endif
        if ((sizeof(unsigned char) <= sizeof(long))) {
            __PYX_VERIFY_RETURN_INT_EXC(unsigned char, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
        } else if ((sizeof(unsigned char) <= sizeof(PY_LONG_LONG))) {
            __PYX_VERIFY_RETURN_INT_EXC(unsigned char, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
        }
    }
    {
        unsigned char val;
        int ret = -1;
#if PY_VERSION_HEX >= 0x030d00A6 && !CYTHON_COMPILING_IN_LIMITED_API
        Py_ssize_t bytes_copied = PyLong_AsNativeBytes(
            x, &val, sizeof(val), Py_ASNATIVEBYTES_NATIVE_ENDIAN | (is_unsigned ? Py_ASNATIVEBYTES_UNSIGNED_BUFFER | Py_ASNATIVEBYTES_REJECT_NEGATIVE : 0));
        if (unlikely(bytes_copied == -1)) {
        } else if (unlikely(bytes_copied > (Py_ssize_t) sizeof(val))) {
            goto raise_overflow;
        } else {
            ret = 0;
        }
#elif PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray)
        int one = 1; int is_little = (int)*(unsigned char *)&one;
        unsigned char *bytes = (unsigned char *)&val;
        ret = _PyLong_AsByteArray((PyLongObject *)x,
                                    bytes, sizeof(val),
                                    is_little, !is_unsigned);
#else
        PyObject *v;
        PyObject *stepval = NULL, *mask = NULL, *shift = NULL;
        int bits, remaining_bits, is_negative = 0;
        int chunk_size = (sizeof(long) < 8) ? 30 : 62;
        if (likely(PyLong_CheckExact(x))) {
            v = __Pyx_NewRef(x);
        } else {
            v = PyNumber_Long(x);
            if (unlikely(!v)) return (unsigned char) -1;
            assert(PyLong_CheckExact(v));
        }
        {
            int result = PyObject_RichCompareBool(v, Py_False, Py_LT);
            if (unlikely(result < 0)) {
                Py_DECREF(v);
                return (unsigned char) -1;
            }
            is_negative = result == 1;
        }
        if (is_unsigned && unlikely(is_negative)) {
            Py_DECREF(v);
            goto raise_neg_overflow;
        } else if (is_negative) {
            stepval = PyNumber_Invert(v);
            Py_DECREF(v);
            if (unlikely(!stepval))
                return (unsigned char) -1;
        } else {
            stepval = v;
        }
        v = NULL;
        val = (unsigned char) 0;
        mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done;
        shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done;
        for (bits = 0; bits < (int) sizeof(unsigned char) * 8 - chunk_size; bits += chunk_size) {
            PyObject *tmp, *digit;
            long idigit;
            digit = PyNumber_And(stepval, mask);
            if (unlikely(!digit)) goto done;
            idigit = PyLong_AsLong(digit);
            Py_DECREF(digit);
            if (unlikely(idigit < 0)) goto done;
            val |= ((unsigned char) idigit) << bits;
            tmp = PyNumber_Rshift(stepval, shift);
            if (unlikely(!tmp)) goto done;
            Py_DECREF(stepval); stepval = tmp;
        }
        Py_DECREF(shift); shift = NULL;
        Py_DECREF(mask); mask = NULL;
        {
            long idigit = PyLong_AsLong(stepval);
            if (unlikely(idigit < 0)) goto done;
            remaining_bits = ((int) sizeof(unsigned char) * 8) - bits - (is_unsigned ? 0 : 1);
            if (unlikely(idigit >= (1L << remaining_bits)))
                goto raise_overflow;
            val |= ((unsigned char) idigit) << bits;
        }
        if (!is_unsigned) {
            if (unlikely(val & (((unsigned char) 1) << (sizeof(unsigned char) * 8 - 1))))
                goto raise_overflow;
            if (is_negative)
                val = ~val;
        }
        ret = 0;
    done:
        Py_XDECREF(shift);
        Py_XDECREF(mask);
        Py_XDECREF(stepval);
#endif
        if (unlikely(ret))
            return (unsigned char) -1;
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to unsigned char");
    return (unsigned char) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to unsigned char");
    return (unsigned char) -1;
}

/* FormatTypeName */
#if CYTHON_COMPILING_IN_LIMITED_API
static __Pyx_TypeName
__Pyx_PyType_GetName(PyTypeObject* tp)
{
    PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp,
                                               __pyx_n_s_name);
    if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) {
        PyErr_Clear();
        Py_XDECREF(name);
        name = __Pyx_NewRef(__pyx_n_s__718);
    }
    return name;
}
#endif

/* CIntFromPy */
static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const int neg_one = (int) -1, const_zero = (int) 0;
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic pop
#endif
    const int is_unsigned = neg_one > const_zero;
#if PY_MAJOR_VERSION < 3
    if (likely(PyInt_Check(x))) {
        if ((sizeof(int) < sizeof(long))) {
            __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (int) val;
        }
    }
#endif
    if (unlikely(!PyLong_Check(x))) {
        int val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (int) -1;
        val = __Pyx_PyInt_As_int(tmp);
        Py_DECREF(tmp);
        return val;
    }
    if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
        if (unlikely(__Pyx_PyLong_IsNeg(x))) {
            goto raise_neg_overflow;
        } else if (__Pyx_PyLong_IsCompact(x)) {
            __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x))
        } else {
            const digit* digits = __Pyx_PyLong_Digits(x);
            assert(__Pyx_PyLong_DigitCount(x) > 1);
            switch (__Pyx_PyLong_DigitCount(x)) {
                case 2:
                    if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) {
                            return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) {
                            return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) {
                            return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
                        }
                    }
                    break;
            }
        }
#endif
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7
        if (unlikely(Py_SIZE(x) < 0)) {
            goto raise_neg_overflow;
        }
#else
        {
            int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
            if (unlikely(result < 0))
                return (int) -1;
            if (unlikely(result == 1))
                goto raise_neg_overflow;
        }
#endif
        if ((sizeof(int) <= sizeof(unsigned long))) {
            __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
        } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) {
            __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
        }
    } else {
#if CYTHON_USE_PYLONG_INTERNALS
        if (__Pyx_PyLong_IsCompact(x)) {
            __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x))
        } else {
            const digit* digits = __Pyx_PyLong_Digits(x);
            assert(__Pyx_PyLong_DigitCount(x) > 1);
            switch (__Pyx_PyLong_SignedDigitCount(x)) {
                case -2:
                    if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) {
                            return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) {
                            return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) {
                            return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) {
                            return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) {
                            return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) {
                        if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) {
                            return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
            }
        }
#endif
        if ((sizeof(int) <= sizeof(long))) {
            __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
        } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) {
            __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
        }
    }
    {
        int val;
        int ret = -1;
#if PY_VERSION_HEX >= 0x030d00A6 && !CYTHON_COMPILING_IN_LIMITED_API
        Py_ssize_t bytes_copied = PyLong_AsNativeBytes(
            x, &val, sizeof(val), Py_ASNATIVEBYTES_NATIVE_ENDIAN | (is_unsigned ? Py_ASNATIVEBYTES_UNSIGNED_BUFFER | Py_ASNATIVEBYTES_REJECT_NEGATIVE : 0));
        if (unlikely(bytes_copied == -1)) {
        } else if (unlikely(bytes_copied > (Py_ssize_t) sizeof(val))) {
            goto raise_overflow;
        } else {
            ret = 0;
        }
#elif PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray)
        int one = 1; int is_little = (int)*(unsigned char *)&one;
        unsigned char *bytes = (unsigned char *)&val;
        ret = _PyLong_AsByteArray((PyLongObject *)x,
                                    bytes, sizeof(val),
                                    is_little, !is_unsigned);
#else
        PyObject *v;
        PyObject *stepval = NULL, *mask = NULL, *shift = NULL;
        int bits, remaining_bits, is_negative = 0;
        int chunk_size = (sizeof(long) < 8) ? 30 : 62;
        if (likely(PyLong_CheckExact(x))) {
            v = __Pyx_NewRef(x);
        } else {
            v = PyNumber_Long(x);
            if (unlikely(!v)) return (int) -1;
            assert(PyLong_CheckExact(v));
        }
        {
            int result = PyObject_RichCompareBool(v, Py_False, Py_LT);
            if (unlikely(result < 0)) {
                Py_DECREF(v);
                return (int) -1;
            }
            is_negative = result == 1;
        }
        if (is_unsigned && unlikely(is_negative)) {
            Py_DECREF(v);
            goto raise_neg_overflow;
        } else if (is_negative) {
            stepval = PyNumber_Invert(v);
            Py_DECREF(v);
            if (unlikely(!stepval))
                return (int) -1;
        } else {
            stepval = v;
        }
        v = NULL;
        val = (int) 0;
        mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done;
        shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done;
        for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) {
            PyObject *tmp, *digit;
            long idigit;
            digit = PyNumber_And(stepval, mask);
            if (unlikely(!digit)) goto done;
            idigit = PyLong_AsLong(digit);
            Py_DECREF(digit);
            if (unlikely(idigit < 0)) goto done;
            val |= ((int) idigit) << bits;
            tmp = PyNumber_Rshift(stepval, shift);
            if (unlikely(!tmp)) goto done;
            Py_DECREF(stepval); stepval = tmp;
        }
        Py_DECREF(shift); shift = NULL;
        Py_DECREF(mask); mask = NULL;
        {
            long idigit = PyLong_AsLong(stepval);
            if (unlikely(idigit < 0)) goto done;
            remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1);
            if (unlikely(idigit >= (1L << remaining_bits)))
                goto raise_overflow;
            val |= ((int) idigit) << bits;
        }
        if (!is_unsigned) {
            if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1))))
                goto raise_overflow;
            if (is_negative)
                val = ~val;
        }
        ret = 0;
    done:
        Py_XDECREF(shift);
        Py_XDECREF(mask);
        Py_XDECREF(stepval);
#endif
        if (unlikely(ret))
            return (int) -1;
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to int");
    return (int) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to int");
    return (int) -1;
}

/* CStringEquals */
static CYTHON_INLINE int __Pyx_StrEq(const char *s1, const char *s2) {
    while (*s1 != '\0' && *s1 == *s2) { s1++; s2++; }
    return *s1 == *s2;
}

/* CheckBinaryVersion */
static unsigned long __Pyx_get_runtime_version(void) {
#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4
    return Py_Version & ~0xFFUL;
#else
    const char* rt_version = Py_GetVersion();
    unsigned long version = 0;
    unsigned long factor = 0x01000000UL;
    unsigned int digit = 0;
    int i = 0;
    while (factor) {
        while ('0' <= rt_version[i] && rt_version[i] <= '9') {
            digit = digit * 10 + (unsigned int) (rt_version[i] - '0');
            ++i;
        }
        version += factor * digit;
        if (rt_version[i] != '.')
            break;
        digit = 0;
        factor >>= 8;
        ++i;
    }
    return version;
#endif
}
static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) {
    const unsigned long MAJOR_MINOR = 0xFFFF0000UL;
    if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR))
        return 0;
    if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR)))
        return 1;
    {
        char message[200];
        PyOS_snprintf(message, sizeof(message),
                      "compile time Python version %d.%d "
                      "of module '%.100s' "
                      "%s "
                      "runtime version %d.%d",
                       (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF),
                       __Pyx_MODULE_NAME,
                       (allow_newer) ? "was newer than" : "does not match",
                       (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF)
       );
        return PyErr_WarnEx(NULL, message, 1);
    }
}

/* InitStrings */
#if PY_MAJOR_VERSION >= 3
static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) {
    if (t.is_unicode | t.is_str) {
        if (t.intern) {
            *str = PyUnicode_InternFromString(t.s);
        } else if (t.encoding) {
            *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL);
        } else {
            *str = PyUnicode_FromStringAndSize(t.s, t.n - 1);
        }
    } else {
        *str = PyBytes_FromStringAndSize(t.s, t.n - 1);
    }
    if (!*str)
        return -1;
    if (PyObject_Hash(*str) == -1)
        return -1;
    return 0;
}
#endif
static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) {
    while (t->p) {
        #if PY_MAJOR_VERSION >= 3
        __Pyx_InitString(*t, t->p);
        #else
        if (t->is_unicode) {
            *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL);
        } else if (t->intern) {
            *t->p = PyString_InternFromString(t->s);
        } else {
            *t->p = PyString_FromStringAndSize(t->s, t->n - 1);
        }
        if (!*t->p)
            return -1;
        if (PyObject_Hash(*t->p) == -1)
            return -1;
        #endif
        ++t;
    }
    return 0;
}

#include <string.h>
static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) {
    size_t len = strlen(s);
    if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) {
        PyErr_SetString(PyExc_OverflowError, "byte string is too long");
        return -1;
    }
    return (Py_ssize_t) len;
}
static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) {
    Py_ssize_t len = __Pyx_ssize_strlen(c_str);
    if (unlikely(len < 0)) return NULL;
    return __Pyx_PyUnicode_FromStringAndSize(c_str, len);
}
static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) {
    Py_ssize_t len = __Pyx_ssize_strlen(c_str);
    if (unlikely(len < 0)) return NULL;
    return PyByteArray_FromStringAndSize(c_str, len);
}
static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) {
    Py_ssize_t ignore;
    return __Pyx_PyObject_AsStringAndSize(o, &ignore);
}
#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
#if !CYTHON_PEP393_ENABLED
static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
    char* defenc_c;
    PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL);
    if (!defenc) return NULL;
    defenc_c = PyBytes_AS_STRING(defenc);
#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
    {
        char* end = defenc_c + PyBytes_GET_SIZE(defenc);
        char* c;
        for (c = defenc_c; c < end; c++) {
            if ((unsigned char) (*c) >= 128) {
                PyUnicode_AsASCIIString(o);
                return NULL;
            }
        }
    }
#endif
    *length = PyBytes_GET_SIZE(defenc);
    return defenc_c;
}
#else
static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
    if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL;
#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
    if (likely(PyUnicode_IS_ASCII(o))) {
        *length = PyUnicode_GET_LENGTH(o);
        return PyUnicode_AsUTF8(o);
    } else {
        PyUnicode_AsASCIIString(o);
        return NULL;
    }
#else
    return PyUnicode_AsUTF8AndSize(o, length);
#endif
}
#endif
#endif
static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
    if (
#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
            __Pyx_sys_getdefaultencoding_not_ascii &&
#endif
            PyUnicode_Check(o)) {
        return __Pyx_PyUnicode_AsStringAndSize(o, length);
    } else
#endif
#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE))
    if (PyByteArray_Check(o)) {
        *length = PyByteArray_GET_SIZE(o);
        return PyByteArray_AS_STRING(o);
    } else
#endif
    {
        char* result;
        int r = PyBytes_AsStringAndSize(o, &result, length);
        if (unlikely(r < 0)) {
            return NULL;
        } else {
            return result;
        }
    }
}
static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) {
   int is_true = x == Py_True;
   if (is_true | (x == Py_False) | (x == Py_None)) return is_true;
   else return PyObject_IsTrue(x);
}
static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) {
    int retval;
    if (unlikely(!x)) return -1;
    retval = __Pyx_PyObject_IsTrue(x);
    Py_DECREF(x);
    return retval;
}
static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) {
    __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result));
#if PY_MAJOR_VERSION >= 3
    if (PyLong_Check(result)) {
        if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1,
                "__int__ returned non-int (type " __Pyx_FMT_TYPENAME ").  "
                "The ability to return an instance of a strict subclass of int is deprecated, "
                "and may be removed in a future version of Python.",
                result_type_name)) {
            __Pyx_DECREF_TypeName(result_type_name);
            Py_DECREF(result);
            return NULL;
        }
        __Pyx_DECREF_TypeName(result_type_name);
        return result;
    }
#endif
    PyErr_Format(PyExc_TypeError,
                 "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")",
                 type_name, type_name, result_type_name);
    __Pyx_DECREF_TypeName(result_type_name);
    Py_DECREF(result);
    return NULL;
}
static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) {
#if CYTHON_USE_TYPE_SLOTS
  PyNumberMethods *m;
#endif
  const char *name = NULL;
  PyObject *res = NULL;
#if PY_MAJOR_VERSION < 3
  if (likely(PyInt_Check(x) || PyLong_Check(x)))
#else
  if (likely(PyLong_Check(x)))
#endif
    return __Pyx_NewRef(x);
#if CYTHON_USE_TYPE_SLOTS
  m = Py_TYPE(x)->tp_as_number;
  #if PY_MAJOR_VERSION < 3
  if (m && m->nb_int) {
    name = "int";
    res = m->nb_int(x);
  }
  else if (m && m->nb_long) {
    name = "long";
    res = m->nb_long(x);
  }
  #else
  if (likely(m && m->nb_int)) {
    name = "int";
    res = m->nb_int(x);
  }
  #endif
#else
  if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) {
    res = PyNumber_Int(x);
  }
#endif
  if (likely(res)) {
#if PY_MAJOR_VERSION < 3
    if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) {
#else
    if (unlikely(!PyLong_CheckExact(res))) {
#endif
        return __Pyx_PyNumber_IntOrLongWrongResultType(res, name);
    }
  }
  else if (!PyErr_Occurred()) {
    PyErr_SetString(PyExc_TypeError,
                    "an integer is required");
  }
  return res;
}
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_ssize_t ival;
  PyObject *x;
#if PY_MAJOR_VERSION < 3
  if (likely(PyInt_CheckExact(b))) {
    if (sizeof(Py_ssize_t) >= sizeof(long))
        return PyInt_AS_LONG(b);
    else
        return PyInt_AsSsize_t(b);
  }
#endif
  if (likely(PyLong_CheckExact(b))) {
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(__Pyx_PyLong_IsCompact(b))) {
        return __Pyx_PyLong_CompactValue(b);
    } else {
      const digit* digits = __Pyx_PyLong_Digits(b);
      const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b);
      switch (size) {
         case 2:
           if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) {
             return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case -2:
           if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) {
             return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case 3:
           if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) {
             return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case -3:
           if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) {
             return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case 4:
           if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) {
             return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case -4:
           if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) {
             return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
      }
    }
    #endif
    return PyLong_AsSsize_t(b);
  }
  x = PyNumber_Index(b);
  if (!x) return -1;
  ival = PyInt_AsSsize_t(x);
  Py_DECREF(x);
  return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
  } else if (likely(PyInt_CheckExact(o))) {
    return PyInt_AS_LONG(o);
#endif
  } else {
    Py_ssize_t ival;
    PyObject *x;
    x = PyNumber_Index(o);
    if (!x) return -1;
    ival = PyInt_AsLong(x);
    Py_DECREF(x);
    return ival;
  }
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) {
    return PyInt_FromSize_t(ival);
}


/* #### Code section: utility_code_pragmas_end ### */
#ifdef _MSC_VER
#pragma warning( pop )
#endif



/* #### Code section: end ### */
#endif /* Py_PYTHON_H */
