Whatsapp is probably your best bet for cross platform text messages. Both parties need to have it installed. It uses your phone number to register then reads your contacts so you can see who else has it. It will also tell you when they last used the app.
Whatsapp will send text, picture & voice messages. It marks your messages as sent & also received but won't tell you it has been read. I'm fairly sure you can see when your recipient is composing a reply.
However, the limitation is that it needs a data connection to bring this functionality. It does not send gsm type sms messages, just instant messages via internet.