================================
ToolPlugin
================================
    
.. py:currentmodule:: kortex_api.autogen

.. py:class:: ToolPluginClient
        
    :canonical: kortex_api.autogen.client_stubs.ToolPluginClientRpc

    .. py:method:: __init__(router, namespace)

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

        :param RouterClient router: :class:`~kortex_api.RouterClient.RouterClient` used for the communication
        :param string namespace: Namespace on which to initialize the ToolPluginClient

    .. 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


        .. _ToolPluginClientJog:

    .. py:method:: Jog (jogmessage, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``OPERATE`` permission is necessary to call this RPC.
        |
        | Sends a jog command.
        | The jog_value must be between -100 and 100, or else an error ERROR_DEVICE, METHOD_FAILED is thrown.
        | 


        :param jogmessage:  
        :type jogmessage: :ref:`JogMessage <ToolPluginJogMessage>`

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

        .. _ToolPluginClientGetToolInformation:

    .. py:method:: GetToolInformation (toolhandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Gets the tool information.
        | If the tool information is empty, an error ERROR_DEVICE, METHOD_FAILED is raised.
        | If the ToolHandle is not one from an existing tool, an error ERROR_DEVICE, INVALID_PARAM is thrown.
        | 


        :param toolhandle:  
        :type toolhandle: :ref:`ToolHandle <ToolPluginToolHandle>`

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

        .. _ToolPluginClientGetToolsInformation:

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

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

        .. _ToolPluginClientGetToolFeedback:

    .. py:method:: GetToolFeedback (toolhandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Gets the tool feedback.
        | The identifier of the targeted tool needs to match one from an existing tool, or else an error ERROR_DEVICE, INVALID_PARAM is thrown.
        | 


        :param toolhandle:  
        :type toolhandle: :ref:`ToolHandle <ToolPluginToolHandle>`

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

        .. _OnNotificationToolPluginClientToolInformationTopic:

    .. py:method:: OnNotificationToolInformationTopic(callback, notificationoptions)
    
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | Subscribes to tool information notifications

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

        .. _ToolPluginClientUnsubscribe:

    .. 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

        .. _ToolPluginClientMoveRelative:

    .. py:method:: MoveRelative (movemessage, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``OPERATE`` permission is necessary to call this RPC.
        |
        | Sends a move command that is relative to the current position.
        | The target_position value must be between -100 and 100 or else an error ERROR_DEVICE, METHOD_FAILED is thrown.
        | The target_position value must not contain decimal numbers.
        | The identifier of the targeted tool needs to match one from an existing tool.
        | 


        :param movemessage:  
        :type movemessage: :ref:`MoveMessage <ToolPluginMoveMessage>`

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