There is such a program...I use it all the time while at work. It is called
MIGHTY TEXT. The only drawback is that it only works with
Google Chrome. I text/chat with people on iPhones and Droids and dumbphones that can text. It is a free program.
You CANNOT do MMS (video/audio/pics) with it and you can view pics coming to you either.
It is still in beta so, they might add that. I have been using the program for about 3 months and love it.
It will also alert you when you are getting a phone call. There is a little delay from the phone to it popping up on your screen....maybe 20 seconds.....but I have no issue with that.
You download the app for free from the Android Market and then download Chrome and the extension and you are good to go.
The beauty of it also is that after you enter your message on the PC and hit send....it actually links to your phone (which can be at home) and puts the message on your phone as if you typed it using your phone. The other party can use whatever program they want to chat with.....in fact, they will never know you are using a program on your PC. My friends have made comments "Wow, you type fast".........LOLOLOLOL