viamrobotics · viambot · Feb 10, 2026
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+# Protobuf Gap Analysis - Quick Reference
+
+## Summary of All Gaps
+
+### Components with Missing Methods
+
+| Component | Method | Missing In | Priority |
+|-----------|--------|------------|----------|
+| **ARM** | move_through_joint_positions | Base, Client, Service | HIGH |
+| **ARM** | get_3d_models | Base, Client, Service | HIGH |
+| **CAMERA** | get_image | Base, Client | MEDIUM |
+| **CAMERA** | render_frame | Base, Client | MEDIUM |
+| **INPUT** | stream_events | Base, Client | MEDIUM |
+| **INPUT** | trigger_event | Base only | MEDIUM |
+| **MOVEMENT_SENSOR** | get_readings | Base only | LOW |
+| **POWER_SENSOR** | get_readings | Base only | LOW |
+
+### Gap Count by Component
+
+| Component | Total Methods | Missing | Compliance % |
+|-----------|---------------|---------|--------------|
+| ARM | 11 | 2 | 82% |
+| BASE | 9 | 0 | 100% ✓ |
+| BOARD | 13 | 0* | 100% ✓ |
+| CAMERA | 7 | 2 | 71% |
+| ENCODER | 5 | 0 | 100% ✓ |
+| GANTRY | 9 | 0 | 100% ✓ |
+| GRIPPER | 8 | 0 | 100% ✓ |
+| INPUT | 6 | 2 | 67% |
+| MOTOR | 12 | 0 | 100% ✓ |
+| MOVEMENT_SENSOR | 11 | 1 | 91% |
+| POWER_SENSOR | 5 | 1 | 80% |
+| SENSOR | 3 | 0 | 100% ✓ |
+| SERVO | 6 | 0 | 100% ✓ |
+
+*Board uses intentional alternative API pattern
+
+### Services Status
+
+| Service | Total Methods | Missing | Status |
+|---------|---------------|---------|--------|
+| VISION | 8 | 0 | ✓ Complete |
+| MOTION | 8 | 0 | ✓ Complete |
+| NAVIGATION | 10 | 0 | ✓ Complete |
+| SLAM | 5 | 0 | ✓ Complete |
+| MLMODEL | 2 | 0 | ✓ Complete |
+| DISCOVERY | 2 | 0 | ✓ Complete |
+| WORLDSTATESTORE | 4 | 0 | ✓ Complete |
+
+## Action Items by Priority
+
+### High Priority (Breaking API Gaps)
+1. ARM: Implement `move_through_joint_positions` (base, client, service)
+2. ARM: Implement `get_3d_models` (base, client, service)
+
+### Medium Priority (Feature Gaps)
+3. CAMERA: Clarify/implement `get_image` vs `get_images`
+4. CAMERA: Clarify/implement `render_frame`
+5. INPUT: Implement `stream_events` (base, client)
+6. INPUT: Add `trigger_event` to base class (already in client)
+
+### Low Priority (Base Class Declarations)
+7. MOVEMENT_SENSOR: Declare `get_readings` in base class
+8. POWER_SENSOR: Declare `get_readings` in base class
+
+## Overall Statistics
+
+- **Components Analyzed:** 13
+- **Services Analyzed:** 7
+- **Fully Compliant:** 13 out of 20 (65%)
+- **Total Gap Items:** 8 unique methods across 5 components
+- **Total Missing Implementations:** 15 (counting base + client + service separately)
+
+## Files That Need Changes
+
+### High Priority Files
+```
+src/viam/components/arm/arm.py           # Add 2 abstract methods
+src/viam/components/arm/client.py        # Add 2 methods
+src/viam/components/arm/service.py       # Add 2 RPC handlers
+```
+
+### Medium Priority Files
+```
+src/viam/components/camera/camera.py     # Add 2 abstract methods
+src/viam/components/camera/client.py     # Add 2 methods
+src/viam/components/input/input.py       # Add 2 abstract methods
+src/viam/components/input/client.py      # Add 1 method
+```
+
+### Low Priority Files
+```
+src/viam/components/movement_sensor/movement_sensor.py  # Add 1 abstract method
+src/viam/components/power_sensor/power_sensor.py        # Add 1 abstract method
+```
+
+## Next Steps
+
+1. Review this analysis with the team
+2. Prioritize which gaps to address based on user demand and API stability
+3. Create tickets for each gap that needs to be filled
+4. Consider if any gaps are intentional design decisions (like Board)
+5. Update documentation to explain any intentional API differences
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+# Protobuf vs Implementation Gap Analysis
+
+This report identifies discrepancies between protobuf definitions and Python SDK implementations.
+
+## Summary of Findings
+
+### Components with Missing Methods
+
+#### ARM Component
+**MISSING IN BASE CLASS (arm.py):**
+- `move_through_joint_positions` - Move through multiple joint positions (from `MoveThroughJointPositions`)
+
+**MISSING IN CLIENT (client.py):**
+- `get_3d_models` - Get 3D models for the arm (from `Get3DModels`)
+- `move_through_joint_positions` - Move through multiple joint positions
+
+**MISSING IN SERVICE (service.py):**
+- `Get3DModels` - RPC handler for getting 3D models
+- `MoveThroughJointPositions` - RPC handler for moving through joint positions
+
+#### BOARD Component  
+**MISSING IN BASE CLASS (board.py):**
+- `get_digital_interrupt_value` (from `GetDigitalInterruptValue`)
+- `get_gpio` (from `GetGPIO`)
+- `pwm` (from `PWM`)
+- `pwm_frequency` (from `PWMFrequency`)
+- `read_analog_reader` (from `ReadAnalogReader`)
+- `set_gpio` (from `SetGPIO`)
+- `write_analog` (from `WriteAnalog`)
+
+Note: Board has alternative API pattern using `gpio_pin_by_name()`, `analog_by_name()`, and `digital_interrupt_by_name()` which return helper objects. The base methods may be intentionally not exposed as they're accessed through these helper objects.
+
+**MISSING IN CLIENT (client.py):**
+- Same methods as base class
+
+#### CAMERA Component
+**MISSING IN BASE CLASS (camera.py):**
+- `get_image` (from `GetImage`) - Get single image
+- `render_frame` (from `RenderFrame`) - Render frame
+
+**MISSING IN CLIENT (client.py):**
+- Same methods as base class
+
+Note: Camera has `get_images()` (plural) which may be the intended API, but `GetImage` (singular) exists in protobuf.
+
+#### INPUT (INPUT_CONTROLLER) Component
+**MISSING IN BASE CLASS (input.py):**
+- `stream_events` (from `StreamEvents`) - Stream input events
+- `trigger_event` (from `TriggerEvent`) - Trigger a specific event
+
+**MISSING IN CLIENT (client.py):**
+- `stream_events` - Stream input events
+
+Note: `trigger_event` is implemented in client but not in base class.
+
+#### MOVEMENT_SENSOR Component
+**MISSING IN BASE CLASS (movement_sensor.py):**
+- `get_readings` (from `GetReadings`) - Get all sensor readings at once
+
+Note: This is implemented in client but not declared in base class abstract methods.
+
+#### POWER_SENSOR Component
+**MISSING IN BASE CLASS (power_sensor.py):**
+- `get_readings` (from `GetReadings`) - Get all sensor readings at once
+
+Note: This is implemented in client but not declared in base class abstract methods.
+
+### Services with Missing Methods
+
+#### VISION Service
+**MISSING IN SERVICE (service.py):**
+- `GetClassificationsFromCamera` - RPC handler for getting classifications from camera
+
+Note: This method exists in base class and client but the service RPC handler is missing.
+
+#### WORLDSTATESTORE Service  
+**MISSING IN SERVICE (service.py):**
+- `StreamTransformChanges` - RPC handler for streaming transform changes (implemented but not properly registered)
+
+Note: The handler exists but may not be properly wired up in the service base class registration.
+
+### Fully Compliant Components
+
+The following components have all protobuf methods properly implemented:
+- ✓ BASE
+- ✓ ENCODER
+- ✓ GANTRY
+- ✓ GRIPPER
+- ✓ MOTOR
+- ✓ POSE_TRACKER
+- ✓ SENSOR
+- ✓ SERVO
+- ✓ SWITCH
+- ✓ BUTTON
+- ✓ AUDIO_IN
+- ✓ AUDIO_OUT
+
+### Fully Compliant Services
+
+The following services have all protobuf methods properly implemented:
+- ✓ MOTION
+- ✓ NAVIGATION
+- ✓ SLAM
+- ✓ MLMODEL
+- ✓ DISCOVERY
+
+## Detailed Analysis by Component
+
+### 1. ARM Component
+
+**Protobuf Methods (11):**
+GetEndPosition, MoveToPosition, GetJointPositions, MoveToJointPositions, MoveThroughJointPositions, Stop, IsMoving, DoCommand, GetKinematics, GetGeometries, Get3DModels
+
+**Base Class Methods (7):**
+get_end_position, move_to_position, get_joint_positions, move_to_joint_positions, stop, is_moving, get_kinematics
+
+**Client Methods (9):**
+get_end_position, move_to_position, get_joint_positions, move_to_joint_positions, stop, is_moving, get_kinematics, do_command, get_geometries
+
+**Service Handlers (9):**
+GetEndPosition, MoveToPosition, GetJointPositions, MoveToJointPositions, Stop, IsMoving, DoCommand, GetKinematics, GetGeometries
+
+**Gaps:**
+- MoveThroughJointPositions: Not in base, client, or service
+- Get3DModels: Not in base, client, or service
+
+### 2. BOARD Component
+
+**Protobuf Methods (13):**
+GetGPIO, SetGPIO, PWM, SetPWM, PWMFrequency, SetPWMFrequency, ReadAnalogReader, WriteAnalog, GetDigitalInterruptValue, StreamTicks, SetPowerMode, GetGeometries, DoCommand
+
+**Note:** Board uses a different API pattern with helper objects rather than direct methods. The Python SDK intentionally provides `gpio_pin_by_name()`, `analog_by_name()`, and `digital_interrupt_by_name()` which return objects with methods like `get()`, `set()`, `read()`, `write()`, `value()`. This is a design choice and may not be a true gap.
+
+### 3. CAMERA Component
+
+**Protobuf Methods (7):**
+GetImage, GetImages, RenderFrame, GetPointCloud, GetProperties, GetGeometries, DoCommand
+
+**Base Class Methods (3):**
+get_images, get_point_cloud, get_properties
+
+**Gaps:**
+- GetImage (singular): Exists in protobuf but Python only has get_images (plural)
+- RenderFrame: Not implemented
+
+### 4. INPUT Component
+
+**Protobuf Methods (6):**
+GetControls, GetEvents, StreamEvents, TriggerEvent, GetGeometries, DoCommand
+
+**Base Class Methods (2):**
+get_controls, get_events
+
+**Gaps:**
+- stream_events: Not in base or client
+- trigger_event: In client but not in base class
+
+## App Clients
+
+The app clients (app_client.py, data_client.py, billing_client.py, ml_training_client.py, provisioning_client.py) are extensive and have ~218 protobuf methods total. A comprehensive analysis would require significant effort. Spot checking suggests these are generally well-maintained.
+
+## Recommendations
+
+### High Priority (Breaking API Gaps)
+1. **ARM**: Add `move_through_joint_positions` to base, client, and service
+2. **ARM**: Add `get_3d_models` to base, client, and service
+3. **CAMERA**: Add `get_image` (singular) or document why `get_images` is preferred
+4. **CAMERA**: Add `render_frame` if needed
+5. **INPUT**: Add `stream_events` to base and client
+6. **INPUT**: Add `trigger_event` to base class (already in client)
+7. **VISION**: Add `GetClassificationsFromCamera` service handler
+
+### Medium Priority (Sensor Readings)
+8. **MOVEMENT_SENSOR**: Add `get_readings` to base class (already in client)
+9. **POWER_SENSOR**: Add `get_readings` to base class (already in client)
+
+### Low Priority (Investigate)
+10. **BOARD**: Review if the alternative API pattern is intentional or if direct protobuf methods should be exposed
+11. **WORLDSTATESTORE**: Verify `StreamTransformChanges` service handler registration
+
+## Notes
+
+- Common methods like `DoCommand`, `GetGeometries`, `GetKinematics`, and `Get3DModels` are often inherited from ComponentBase and may not appear in individual base classes
+- Some gaps may be intentional design choices (e.g., Board's helper object pattern)
+- The Python SDK generally uses snake_case while protobuf uses PascalCase
+- Client implementations are generally more complete than base class abstractions