================================
ProtectionZone
================================
    
.. py:currentmodule:: kortex_api.autogen

.. py:class:: ProtectionZoneClient
        
    :canonical: kortex_api.autogen.client_stubs.ProtectionZoneClientRpc

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

        Constructs a ProtectionZoneClient 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 ProtectionZoneClient (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


        .. _ProtectionZoneClientCreateProtectionZone:

    .. py:method:: CreateProtectionZone (protectionzoneconfig, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``SAFETIES`` permission is necessary to call this RPC.
        |
        | Creates a new protection zone and returns a handle to the protection zone.
        | The arm must be powered off and not be in an Unrecoverable Fault state to create a protection zone.
        | The parameter orientation from the ZoneShape needs to be an orthonormal matrix, or else an error ERROR_DEVICE, METHOD_FAILED, is raised.
        | If the shape dimensions are not greater than 0, an the error ERROR_DEVICE, METHOD_FAILED is raised.
        | The shape dimensions are entered in meters and must be initialized according to the shape_type. The order is important and must be as followed:
        | The dimensions must contain the radius it is a sphere, the x, y and z (length, width, height) dimensions if it is a rectangular prism, the radius and height if it is a cylinder.
        | The shape origin needs to be a three dimensional vector that corresponds to the x,y,z coordinates.
        | 


        :param protectionzoneconfig:  
        :type protectionzoneconfig: :ref:`ProtectionZoneConfig <ProtectionZoneProtectionZoneConfig>`

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

        .. _ProtectionZoneClientUpdateProtectionZone:

    .. py:method:: UpdateProtectionZone (protectionzoneconfig, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``SAFETIES`` permission is necessary to call this RPC.
        |
        | Updates an existing protection zone
        | The arm must be powered off and not be in an Unrecoverable Fault state to update a protection zone.
        | Updates on the protection zone fields need to follow the same rules as the ones mentioned in CreateProtectionZone's description.
        | The handle.identifier of the protection zone to be updated needs to match the identifier from an existing protection zone, or else an ENTITY_NOT_FOUND exception is thrown.
        | 


        :param protectionzoneconfig:  
        :type protectionzoneconfig: :ref:`ProtectionZoneConfig <ProtectionZoneProtectionZoneConfig>`

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

        .. _ProtectionZoneClientReadProtectionZone:

    .. py:method:: ReadProtectionZone (protectionzonehandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Retrieves an existing protection zone


        :param protectionzonehandle:  
        :type protectionzonehandle: :ref:`ProtectionZoneHandle <ProtectionZoneProtectionZoneHandle>`

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

        .. _ProtectionZoneClientDeleteProtectionZone:

    .. py:method:: DeleteProtectionZone (protectionzonehandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``SAFETIES`` permission is necessary to call this RPC.
        |
        | Deletes an existing protection zone
        | The arm must be powered off and not be in an Unrecoverable Fault state to delete a protection zone.
        | The handle.identifier of the protection zone to be deleted needs to match the identifier from an existing protection zone, or else an ENTITY_NOT_FOUND exception is thrown.
        | 


        :param protectionzonehandle:  
        :type protectionzonehandle: :ref:`ProtectionZoneHandle <ProtectionZoneProtectionZoneHandle>`

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

        .. _ProtectionZoneClientReadAllProtectionZones:

    .. py:method:: ReadAllProtectionZones (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Retrieves a list of all protection zones

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

        .. _ProtectionZoneClientSetToolSphere:

    .. py:method:: SetToolSphere (toolsphere, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``SAFETIES`` permission is necessary to call this RPC.
        |
        | Sets the tool sphere.
        | The arm must be powered off and not be in an Unrecoverable Fault state to set the tool sphere.
        | 


        :param toolsphere:  
        :type toolsphere: :ref:`ToolSphere <ProtectionZoneToolSphere>`

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

        .. _ProtectionZoneClientGetToolSphere:

    .. py:method:: GetToolSphere (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Gets the tool sphere

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

        .. _OnNotificationProtectionZoneClientProtectionZoneChangeTopic:

    .. py:method:: OnNotificationProtectionZoneChangeTopic(callback, notificationoptions)
    
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Subscribes to protection zone change topic for notifications

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

        .. _OnNotificationProtectionZoneClientToolSphereChangeTopic:

    .. py:method:: OnNotificationToolSphereChangeTopic(callback, notificationoptions)
    
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Subscribes to tool sphere change topic for notifications

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

        .. _ProtectionZoneClientUnsubscribe:

    .. 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