================================
SafetyIO
================================
    
.. py:currentmodule:: kortex_api.autogen

.. py:class:: SafetyIOClient
        
    :canonical: kortex_api.autogen.client_stubs.SafetyIO.SafetyIOClientRpc

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

        Constructs a SafetyIOClient 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 SafetyIOClient (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


        .. _SafetyIOClientSetSafetyIOConfiguration:

    .. py:method:: SetSafetyIOConfiguration (safetyioconfiguration, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``SAFETIES`` permission is necessary to call this RPC.
        |
        | Sets a safety io


        :param safetyioconfiguration:  
        :type safetyioconfiguration: :ref:`SafetyIOConfiguration <SafetyIOSafetyIOConfiguration>`

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

        .. _SafetyIOClientSetAllSafetyIOConfiguration:

    .. py:method:: SetAllSafetyIOConfiguration (safetyioconfigurationlist, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``SAFETIES`` permission is necessary to call this RPC.
        |
        | Sets all safeties io


        :param safetyioconfigurationlist:  
        :type safetyioconfigurationlist: :ref:`SafetyIOConfigurationList <SafetyIOSafetyIOConfigurationList>`

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

        .. _SafetyIOClientGetSafetyIOConfiguration:

    .. py:method:: GetSafetyIOConfiguration (safetyioinfo, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Retrieves a safety io


        :param safetyioinfo:  
        :type safetyioinfo: :ref:`SafetyIOInfo <SafetyIOSafetyIOInfo>`

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

        .. _SafetyIOClientGetAllSafetyIOConfiguration:

    .. py:method:: GetAllSafetyIOConfiguration (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Retrieves all safeties io

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

        .. _SafetyIOClientGetSafetyIOStatus:

    .. py:method:: GetSafetyIOStatus (, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Retrieves bitmask of safety functions status

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

        .. _OnNotificationSafetyIOClientSafetyIOChangeTopic:

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

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

        .. _SafetyIOClientUnsubscribe:

    .. 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