Planet with a society more ir less the same level we are right now.
Only difference is that they know of other worlds and can communicate with them for things like trade and defense.
However they are yet to invent anything like warp drive so if they were to call out for help and a passing ship hears them does the Prime Directive apply to helping them or not?
Are you asking about the Prime Directive or when to initiate first contact?
The Prime Directive, sometimes called the non-interference directive, is interpreted by some to mean "do not interfere" regardless of whether the other civilization is aware of the Federation or not.
On the other hand, First Contact is usually (but not always) restricted until said civilization develops FTL drive and is about to encounter aliens pretty soon.
From TNG episode "First Contact"
PICARD: We've been monitoring your progress toward warp-drive capability. When a society reaches your level of technology and is clearly about to initiate warp travel, we feel the time is right for first contact. We prefer meeting like this, rather than a random confrontation in deep space.
TROI: We've come to you first because you're a leader in the scientific community. Scientists generally accept our arrival more easily than others.
PICARD: We almost always encounter shock and fear on this sort of mission. We hope that you will help us facilitate our introduction.
MIRASTA: Is this a joke? Did Lupo and the others from the lab put you up to this?
PICARD: It's certainly no joke. As you can see, we are physically quite different from Malcorians. And, with your permission, I'm prepared to prove it to you.
MIRASTA: I would like that.
PICARD: Picard to Enterprise. Three to beam up.
I the proposed scenario the reasons to wait until the civilization achieves ftl before initiating contact are nullified. The civilization is aware aliens exist, understands they are different physically, and have already developed trade relations with alien civilizations. It's likely some of their population has already traveled by warp, been beamed up by transporter, and maybe already learned of the existence Federation.
Making first contact would not only be appropriate, it might be necessary. The longer contact is delayed, the greater the chance this civilization is swept into a relationship with Federation adversaries such as the Klingons (23rd century), Romulans (pre 25th century), Cardassians, Orion, Ferengi (pre Nagus Rom), etc...
But the Prime Directive would prohibit interfering with the natural development of this civilization unless certain treaties or agreements are in place. Trade, for example, by definition influences the natural development of a civilization.