================================
ProgramRunner
================================
    
.. py:currentmodule:: kortex_api.autogen

.. py:class:: ProgramRunnerClient
        
    :canonical: kortex_api.autogen.client_stubs.ProgramRunnerClientRpc

    .. py:method:: __init__(router, namespace = None)

        Constructs a ProgramRunnerClient with an initialized :class:`~kortex_api.RouterClient.RouterClient` and an optional namespace.

        :param RouterClient router: :class:`~kortex_api.RouterClient.RouterClient` used for the communication
        :param string namespace: Optional namespace on which to initialize the ProgramRunnerClient (defaults to ``None``)

    .. py:method:: IsAlive (timeoutMs: int = 1000)
        
        Returns ``True`` if the Service Server is detected online before ``timeoutMs`` is expired, ``False`` otherwise.
        
        :param unsigned int timeoutMs: The maximum time to wait for an answer from the server 
        :rtype: bool


        .. _ProgramRunnerClientCreateProgram:

    .. py:method:: CreateProgram (program, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | Create a program.
        | 
        | If the program is not valid, an INVALID_PARAM error is thrown.
        | 


        :param program:  
        :type program: :ref:`Program <ProgramConfigProgram>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ProgramHandle

        .. _ProgramRunnerClientDeleteProgram:

    .. py:method:: DeleteProgram (programhandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | Delete a program.
        | 
        | If the program to delete is running, an ERROR_DEVICE error is thrown.
        | 


        :param programhandle:  
        :type programhandle: :ref:`ProgramHandle <CommonProgramHandle>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ProgramRunnerClientReadAllPluginActions:

    .. py:method:: ReadAllPluginActions (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Fetch all available plugin actions descriptors.

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ActionList

        .. _ProgramRunnerClientReadAllPrograms:

    .. py:method:: ReadAllPrograms (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Read all programs.

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ProgramList

        .. _ProgramRunnerClientReadProgram:

    .. py:method:: ReadProgram (programhandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Read a program.


        :param programhandle:  
        :type programhandle: :ref:`ProgramHandle <CommonProgramHandle>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: Program

        .. _ProgramRunnerClientUpdateProgram:

    .. py:method:: UpdateProgram (program, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | Update an existing program.
        | 
        | If the program is not valid, an INVALID_PARAM error is thrown.
        | 


        :param program:  
        :type program: :ref:`Program <ProgramConfigProgram>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: Program

        .. _ProgramRunnerClientExportProgram:

    .. py:method:: ExportProgram (programhandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Export a program from Runner.


        :param programhandle:  
        :type programhandle: :ref:`ProgramHandle <CommonProgramHandle>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ProgramJSON

        .. _ProgramRunnerClientImportProgram:

    .. py:method:: ImportProgram (programjson, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | Import a program to Runner.


        :param programjson:  
        :type programjson: :ref:`ProgramJSON <ProgramConfigProgramJSON>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ProgramHandle

        .. _ProgramRunnerClientGetStatus:

    .. py:method:: GetStatus (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Returns the current status.

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: StatusInformation

        .. _ProgramRunnerClientPause:

    .. py:method:: Pause (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``OPERATE`` permission is necessary to call this RPC.
        |
        | Pause an ongoing Program or Action.

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ProgramRunnerClientResume:

    .. py:method:: Resume (runnablehandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``OPERATE`` permission is necessary to call this RPC.
        |
        | Resume a paused Program or Action.
        | The input argument RunnableHandle is unused, use a default RunnableHandle to make the call.
        | 
        | If runner status is STATUS_PAUSED_AUTOMATIC_RESUME, an ERROR_DEVICE error is thrown.
        | If the operating mode is different as it was when the program was started, an INVALID_PARAM error is thrown.
        | 


        :param runnablehandle:  
        :type runnablehandle: :ref:`RunnableHandle <ProgramRunnerRunnableHandle>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ProgramRunnerClientStart:

    .. py:method:: Start (programstartconfiguration, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``OPERATE`` permission is necessary to call this RPC.
        |
        | Start a program.
        | The Arm State must be powered ON.
        | The Operating Mode must be HOLD_TO_RUN or AUTO.
        | 
        | To avoid the INVALID_PARAM error, the action_handle is not set, the program_handle is set,
        | the program is valid and the operating mode is HOLD_TO_RUN or AUTO.
        | If it is AUTO, the program must be validated.
        | 


        :param programstartconfiguration:  
        :type programstartconfiguration: :ref:`ProgramStartConfiguration <ProgramRunnerProgramStartConfiguration>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ProgramRunnerClientStop:

    .. py:method:: Stop (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``OPERATE`` permission is necessary to call this RPC.
        |
        | Stop an ongoing Program or Action.
        | 
        | If the status is neither paused nor running or if it is stopping or idle, an ERROR_DEVICE error is thrown.
        | 

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _OnNotificationProgramRunnerClientStateChangeTopic:

    .. py:method:: OnNotificationStateChangeTopic(callback, notificationoptions)
    
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Subscribes to state event notifications

        :param callback: Function callback taking a :class:`Kinova.Api.ProgramRunner.StateChangeNotification` as only argument, and returning ``None``.
        :type callback: function
        :param NotificationOptions notificationoptions: Notification options
        :rtype: NotificationHandle

        .. _OnNotificationProgramRunnerClientStatusChangeTopic:

    .. py:method:: OnNotificationStatusChangeTopic(callback, notificationoptions)
    
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Subscribes to status event notifications

        :param callback: Function callback taking a :class:`Kinova.Api.ProgramRunner.StatusChangeNotification` as only argument, and returning ``None``.
        :type callback: function
        :param NotificationOptions notificationoptions: Notification options
        :rtype: NotificationHandle

        .. _OnNotificationProgramRunnerClientConfigurationChangeTopic:

    .. py:method:: OnNotificationConfigurationChangeTopic(callback, notificationoptions)
    
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Subscribes to Configuration change topic on programs

        :param callback: Function callback taking a :class:`Kinova.Api.ProgramConfig.ConfigurationChangeNotification` as only argument, and returning ``None``.
        :type callback: function
        :param NotificationOptions notificationoptions: Notification options
        :rtype: NotificationHandle

        .. _OnNotificationProgramRunnerClientExecutionEventTopic:

    .. py:method:: OnNotificationExecutionEventTopic(callback, notificationoptions)
    
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Subscribes to program execution event notifications

        :param callback: Function callback taking a :class:`Kinova.Api.ProgramRunner.ExecutionEventNotification` as only argument, and returning ``None``.
        :type callback: function
        :param NotificationOptions notificationoptions: Notification options
        :rtype: NotificationHandle

        .. _ProgramRunnerClientUnsubscribe:

    .. py:method:: Unsubscribe (notificationhandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Unsubscribes client from receiving notifications for the specified topic


        :param notificationhandle:  
        :type notificationhandle: :ref:`NotificationHandle <CommonNotificationHandle>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ProgramRunnerClientStartActions:

    .. py:method:: StartActions (actionsstartconfiguration, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``OPERATE`` permission is necessary to call this RPC.
        |
        | Start specified actions of a program.
        | 
        | If action_handle or program_handle is not set, the program is not valid or the operating mode is not HOLD_TO_RUN, an INVALID_PARAM error is thrown.
        | 


        :param actionsstartconfiguration:  
        :type actionsstartconfiguration: :ref:`ActionsStartConfiguration <ProgramRunnerActionsStartConfiguration>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ProgramRunnerClientValidateProgram:

    .. py:method:: ValidateProgram (programvalidationconfiguration, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | Validate a program.


        :param programvalidationconfiguration:  
        :type programvalidationconfiguration: :ref:`ProgramValidationConfiguration <ProgramRunnerProgramValidationConfiguration>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message