add generic client wrapper

lib/src/components/generic/client.dart

@@ -0,0 +1,26 @@
+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';
+
+class GenericClient extends Generic implements ResourceRPCClient {
+  @override
+  ClientChannelBase channel;
+
+  @override
+  String name;
+
+  @override
+  GenericServiceClient get client => GenericServiceClient(channel);
+
+  GenericClient(this.name, this.channel);
+
+  @override
+  Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
+    final response = await client.doCommand(DoCommandRequest(name: name, command: command.toStruct()));
+    return response.result.toMap();
+  }
+}

lib/src/components/generic/generic.dart

@@ -0,0 +1,22 @@
+import '../../gen/common/v1/common.pb.dart';
+import '../../resource/base.dart';
+import '../../robot/client.dart';
+
+/// Generic component, which represents any type of component that can executes arbitrary commands
+abstract class Generic extends Resource {
+  static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeComponent, 'generic');
+
+  /// Convenience method to allow component clients to execute ``do_command`` functions
+  @override
+  Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command);
+
+  /// 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));
+  }
+}

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/motor/client.dart';
 import '../components/motor/motor.dart';
 import '../components/movement_sensor/client.dart';
@@ -36,6 +38,7 @@ 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(Motor.subtype, (name, channel) => MotorClient(name, channel)));
     registerSubtype(ResourceRegistration(MovementSensor.subtype, (name, channel) => MovementSensorClient(name, channel)));
     registerSubtype(ResourceRegistration(Sensor.subtype, (name, channel) => SensorClient(name, channel)));