diff --git a/lib/src/components/generic/client.dart b/lib/src/components/generic/client.dart
new file mode 100644
index 00000000000..5844980df52
--- /dev/null
+++ b/lib/src/components/generic/client.dart
@@ -0,0 +1,30 @@
+import 'package:grpc/grpc_connection_interface.dart';
+
+import '../../gen/common/v1/common.pb.dart';
+import '../../gen/component/generic/v1/generic.pbgrpc.dart';
+import '../../resource/base.dart';
+import '../../utils.dart';
+import 'generic.dart';
+
+/// gRPC client for the [Generic] component.
+class GenericClient extends Generic implements ResourceRPCClient {
+ @override
+ String name;
+
+ @override
+ ClientChannelBase channel;
+
+ @override
+ GenericServiceClient get client => GenericServiceClient(channel);
+
+ GenericClient(this.name, this.channel);
+
+ @override
+ Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
+ final request = DoCommandRequest()
+ ..name = name
+ ..command = command.toStruct();
+ final response = await client.doCommand(request);
+ return response.result.toMap();
+ }
+}
diff --git a/lib/src/components/generic/generic.dart b/lib/src/components/generic/generic.dart
new file mode 100644
index 00000000000..56d30e4a252
--- /dev/null
+++ b/lib/src/components/generic/generic.dart
@@ -0,0 +1,18 @@
+import '../../gen/common/v1/common.pb.dart';
+import '../../resource/base.dart';
+import '../../robot/client.dart';
+
+/// Generic represents a generic component that executes doCommand.
+abstract class Generic extends Resource {
+ static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeComponent, 'generic');
+
+ /// Get the [ResourceName] for this [Generic] with the given [name]
+ static ResourceName getResourceName(String name) {
+ return Generic.subtype.getResourceName(name);
+ }
+
+ /// Get the [Generic] named [name] from the provided robot.
+ static Generic fromRobot(RobotClient robot, String name) {
+ return robot.getResource(Generic.getResourceName(name));
+ }
+}
diff --git a/lib/src/components/generic/service.dart b/lib/src/components/generic/service.dart
new file mode 100644
index 00000000000..9d4aaea1662
--- /dev/null
+++ b/lib/src/components/generic/service.dart
@@ -0,0 +1,35 @@
+import 'package:grpc/grpc.dart';
+
+import '../../gen/common/v1/common.pb.dart';
+import '../../gen/component/generic/v1/generic.pbgrpc.dart';
+import '../../resource/manager.dart';
+import '../../utils.dart';
+import 'generic.dart';
+
+/// gRPC Service for a generic [Generic]
+class GenericService extends GenericServiceBase {
+ final ResourceManager _manager;
+
+ GenericService(this._manager);
+
+ Generic _fromManager(String name) {
+ try {
+ return _manager.getResource(Generic.getResourceName(name));
+ } catch (e) {
+ throw (GrpcError.notFound(e.toString()));
+ }
+ }
+
+ @override
+ Future<DoCommandResponse> doCommand(ServiceCall call, DoCommandRequest request) async {
+ final generic = _fromManager(request.name);
+ final result = await generic.doCommand(request.command.toMap());
+ return DoCommandResponse()..result = result.toStruct();
+ }
+
+ @override
+ Future<GetGeometriesResponse> getGeometries(ServiceCall call, GetGeometriesRequest request) {
+ // TODO: implement getGeometries
+ throw UnimplementedError();
+ }
+}
diff --git a/lib/src/resource/registry.dart b/lib/src/resource/registry.dart
index 27fcf2c0f44..b194e2c7af6 100644
--- a/lib/src/resource/registry.dart
+++ b/lib/src/resource/registry.dart
@@ -10,6 +10,8 @@ import '../components/camera/camera.dart';
import '../components/camera/client.dart';
import '../components/gantry/client.dart';
import '../components/gantry/gantry.dart';
+import '../components/generic/client.dart';
+import '../components/generic/generic.dart';
import '../components/gripper/client.dart';
import '../components/gripper/gripper.dart';
import '../components/motor/client.dart';
@@ -56,6 +58,7 @@ class Registry {
registerSubtype(ResourceRegistration(Base.subtype, (name, channel) => BaseClient(name, channel)));
registerSubtype(ResourceRegistration(Camera.subtype, (name, channel) => CameraClient(name, channel)));
registerSubtype(ResourceRegistration(Gantry.subtype, (name, channel) => GantryClient(name, channel)));
+ registerSubtype(ResourceRegistration(Generic.subtype, (name, channel) => GenericClient(name, channel)));
registerSubtype(ResourceRegistration(Gripper.subtype, (name, channel) => GripperClient(name, channel)));
registerSubtype(ResourceRegistration(Motor.subtype, (name, channel) => MotorClient(name, channel)));
registerSubtype(ResourceRegistration(MovementSensor.subtype, (name, channel) => MovementSensorClient(name, channel)));
diff --git a/lib/viam_sdk.dart b/lib/viam_sdk.dart
index 5138b4ec73e..f59b750c974 100644
--- a/lib/viam_sdk.dart
+++ b/lib/viam_sdk.dart
@@ -16,6 +16,8 @@ export 'src/components/camera/camera.dart';
export 'src/components/camera/client.dart';
export 'src/components/gantry/client.dart';
export 'src/components/gantry/gantry.dart';
+export 'src/components/generic/client.dart';
+export 'src/components/generic/generic.dart';
export 'src/components/gripper/client.dart';
export 'src/components/gripper/gripper.dart';
export 'src/components/motor/client.dart';
diff --git a/test/unit_test/components/generic_test.dart b/test/unit_test/components/generic_test.dart
new file mode 100644
index 00000000000..4ae1b028a55
--- /dev/null
+++ b/test/unit_test/components/generic_test.dart
@@ -0,0 +1,81 @@
+import 'package:flutter_test/flutter_test.dart';
+import 'package:grpc/grpc.dart';
+import 'package:viam_sdk/src/components/generic/service.dart';
+import 'package:viam_sdk/src/gen/component/generic/v1/generic.pbgrpc.dart';
+import 'package:viam_sdk/src/resource/manager.dart';
+import 'package:viam_sdk/src/utils.dart';
+import 'package:viam_sdk/viam_sdk.dart';
+
+class FakeGeneric extends Generic {
+ @override
+ String name;
+
+ FakeGeneric(this.name);
+
+ @override
+ Future<Map<String, dynamic>> doCommand(Map<String, dynamic>? command) async {
+ return {'command': command};
+ }
+}
+
+void main() {
+ group('FakeGeneric Tests', () {
+ const String name = 'generic';
+ late FakeGeneric generic;
+
+ setUp(() {
+ generic = FakeGeneric(name);
+ });
+
+ test('doCommand', () async {
+ final cmd = {'foo': 'bar'};
+ final resp = await generic.doCommand(cmd);
+ expect(resp['command'], cmd);
+ });
+ });
+
+ group('Generic RPC Tests', () {
+ const String name = 'generic';
+ late FakeGeneric generic;
+ late ClientChannel channel;
+ late GenericService service;
+ late Server server;
+
+ setUp(() async {
+ final port = 50000 + (name.hashCode % 10000);
+ generic = FakeGeneric(name);
+ final ResourceManager manager = ResourceManager();
+ manager.register(Generic.getResourceName(name), generic);
+ service = GenericService(manager);
+ channel = ClientChannel('localhost', port: port, options: const ChannelOptions(credentials: ChannelCredentials.insecure()));
+ server = Server.create(services: [service]);
+ await server.serve(port: port);
+ });
+
+ tearDown(() async {
+ await channel.shutdown();
+ await server.shutdown();
+ });
+
+ group('Generic Service Tests', () {
+ test('doCommand', () async {
+ final cmd = {'foo': 'bar'};
+
+ final client = GenericServiceClient(channel);
+ final resp = await client.doCommand(DoCommandRequest()
+ ..name = name
+ ..command = cmd.toStruct());
+ expect(resp.result.toMap()['command'], cmd);
+ });
+ });
+
+ group('Generic Client Tests', () {
+ test('doCommand', () async {
+ final cmd = {'foo': 'bar'};
+ final client = GenericClient(name, channel);
+ final resp = await client.doCommand(cmd);
+ expect(resp['command'], cmd);
+ });
+ });
+ });
+}