Hmm, probably impossible...
check pinned topic READ FIRST and search forum
the hard part is getting something to talk to Cross.
fortunately there are couple of products allow making own client with much less effort. One of those products is C3 Bridge as mentioned in numerous forum posts.
It does allow program selection/cancelation/reset etc.
Warning. While this is possible one must be careful to ensure safety. There is a reason why SPOC etc exist. It is the same reasons why i explored/experimented with this (as shown in the video) but did not make it a convenient function of some product.
It is very tempting for a programmer (specially new one) to create something with more or unique functions but since this involves industrial robots, there are risks and regulations - that is why serious considerations are needed before implementing something like that.