diff --git a/protos/CMakeLists.txt b/protos/CMakeLists.txt
index 65a403be..0206c61d 100644
--- a/protos/CMakeLists.txt
+++ b/protos/CMakeLists.txt
@@ -2,10 +2,13 @@ farm_ng_add_protobufs(farm_ng_amiga_proto_defs
     NAMESPACE farm_ng_amiga
     INCLUDE_DIRS
       ${Sophus_PROTO_DIR}
+      ${farm_ng_core_PROTO_DIR}
     PROTO_FILES
-        farm_ng/oak/oak.proto
         farm_ng/canbus/canbus.proto
+        farm_ng/oak/oak.proto
+        farm_ng/service/service.proto
     DEPENDENCIES
       Sophus::sophus_linalg_proto_defs
       Sophus::sophus_lie_proto_defs
+      farm_ng_core::farm_ng_core_proto_defs
 )
diff --git a/protos/farm_ng/canbus/canbus.proto b/protos/farm_ng/canbus/canbus.proto
index c70afda5..df823834 100644
--- a/protos/farm_ng/canbus/canbus.proto
+++ b/protos/farm_ng/canbus/canbus.proto
@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
-
 syntax = "proto3";
 
 package farm_ng.canbus.proto;
@@ -22,34 +20,14 @@ service CanbusService {
   rpc streamCanbusMessages(StreamCanbusRequest)
       returns (stream StreamCanbusReply) {}
   rpc sendCanbusMessage(stream SendCanbusMessageRequest)
-      returns (SendCanbusMessageReply) {}
-  rpc getServiceState(GetServiceStateRequest) returns (GetServiceStateResult) {}
-  rpc startService(StartServiceRequest) returns (StartServiceResult) {}
-  rpc stopService(StopServiceRequest) returns (StopServiceResult) {}
-  rpc pauseService(PauseServiceRequest) returns (PauseServiceResult) {}
-}
-
-enum ReplyStatus {
-  OK = 0;
-  FAILED = 1;
-}
-
-enum CanbusServiceState {
-  UNKNOWN = 0;
-  STOPPED = 1;
-  RUNNING = 2;
-  IDLE = 3;
-  UNAVAILABLE = 4;
-  ERROR = 5;
+      returns (stream SendCanbusMessageReply) {}
 }
 
 message StreamCanbusRequest {
-  string message = 1;
 }
 
 message StreamCanbusReply {
-  ReplyStatus status = 1;
-  RawCanbusMessages messages = 2;
+  RawCanbusMessages messages = 1;
 }
 
 message SendCanbusMessageRequest {
@@ -57,7 +35,7 @@ message SendCanbusMessageRequest {
 }
 
 message SendCanbusMessageReply {
-  ReplyStatus status = 1;
+  bool success = 1;
 }
 
 message RawCanbusMessage {
@@ -73,40 +51,3 @@ message RawCanbusMessage {
 message RawCanbusMessages {
   repeated RawCanbusMessage messages = 1;
 }
-
-message StartServiceRequest {
-  string message = 1;
-}
-
-message StopServiceRequest {
-  string message = 1;
-}
-
-message PauseServiceRequest {
-  string message = 1;
-}
-
-message StartServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message StopServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message PauseServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message GetServiceStateRequest {
-  string message = 1;
-}
-
-message GetServiceStateResult {
-  string state_name = 1;
-  CanbusServiceState state = 2;
-  ReplyStatus status = 3;
-}
diff --git a/protos/farm_ng/oak/oak.proto b/protos/farm_ng/oak/oak.proto
index 527aca46..6b23694c 100644
--- a/protos/farm_ng/oak/oak.proto
+++ b/protos/farm_ng/oak/oak.proto
@@ -12,79 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
-
 syntax = "proto3";
 
+import "farm_ng/service/service.proto";
+
 package farm_ng.oak.proto;
 
 service OakService {
   rpc cameraControl(CameraControlRequest) returns (CameraControlReply) {}
   rpc streamFrames(StreamFramesRequest) returns (stream StreamFramesReply) {}
-  rpc getServiceState(GetServiceStateRequest) returns (GetServiceStateResult) {}
-  rpc startService(StartServiceRequest) returns (StartServiceResult) {}
-  rpc stopService(StopServiceRequest) returns (StopServiceResult) {}
-  rpc pauseService(PauseServiceRequest) returns (PauseServiceResult) {}
-  rpc getCalibration(GetCalibrationRequest) returns (GetCalibrationResult) {}
-}
-
-enum ReplyStatus {
-  OK = 0;
-  FAILED = 1;
-}
-
-enum OakServiceState {
-  UNKNOWN = 0;
-  STOPPED = 1;
-  RUNNING = 2;
-  IDLE = 3;
-  UNAVAILABLE = 4;
+  rpc getCalibration(GetCalibrationRequest) returns (GetCalibrationReply) {}
 }
 
 message GetCalibrationRequest {
-  string message = 1;
 }
 
-message GetCalibrationResult {
+message GetCalibrationReply {
   OakCalibration calibration = 1;
-  ReplyStatus status = 2;
-}
-
-message StopServiceRequest {
-  string message = 1;
-}
-
-message StopServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message StartServiceRequest {
-  string message = 1;
-}
-
-message StartServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message PauseServiceRequest {
-  string message = 1;
-}
-
-message PauseServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message GetServiceStateRequest {
-  string message = 1;
-}
-
-message GetServiceStateResult {
-  string state_name = 1;
-  OakServiceState state = 2;
-  ReplyStatus status = 3;
 }
 
 message CameraControlRequest {
@@ -92,11 +36,10 @@ message CameraControlRequest {
   CameraSettings rgb_settings = 2;
 }
 
-
 message CameraControlReply {
-   ReplyStatus status = 1;
-   CameraSettings stereo_settings = 2;
-   CameraSettings rgb_settings = 3;
+  bool success = 1;
+  CameraSettings stereo_settings = 2;
+  CameraSettings rgb_settings = 3;
 }
 
 message StreamFramesRequest {
@@ -104,8 +47,7 @@ message StreamFramesRequest {
 }
 
 message StreamFramesReply {
-  ReplyStatus status = 1;
-  OakSyncFrame frame = 2;
+  OakSyncFrame frame = 1;
 }
 
 message Vec3F32 {
@@ -124,7 +66,7 @@ message CameraSettings {
 message OakImageMeta {
   int64 category = 1; // DepthAI catetory
   int64 instance_num = 2;  //DepthAI instance number
-  int64 sequence_num = 3;   // for synchronization between left, right and stereo
+  int64 sequence_num = 3;  // for synchronization between left, right and stereo
   double timestamp = 4; // seconds, synchronized with host monotonic
   double timestamp_device = 5; // seconds, device monotonic clock
   CameraSettings settings = 6;
@@ -216,7 +158,6 @@ message Extrinsics {
   Vector3d translation = 4;
 }
 
-
 message CameraData {
   uint32 camera_number = 1;
   int32 camera_type = 2;
diff --git a/protos/farm_ng/service/service.proto b/protos/farm_ng/service/service.proto
new file mode 100644
index 00000000..776e0cd5
--- /dev/null
+++ b/protos/farm_ng/service/service.proto
@@ -0,0 +1,46 @@
+// Copyright (c) farm-ng, inc.
+//
+// Licensed under the Amiga Development Kit License (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     https://github.com/farm-ng/amiga-dev-kit/blob/main/LICENSE
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+syntax = "proto3";
+
+import "farm_ng/core/timestamp.proto";
+
+package farm_ng.service.proto;
+
+service Service {
+  rpc getServiceState(GetServiceStateRequest) returns (GetServiceStateReply) {}
+}
+
+enum ServiceState {
+  // Service state is not known
+  UNKNOWN = 0;
+  // Running, and actively serving data
+  RUNNING = 1;
+  // Idle, waiting for clients
+  IDLE = 2;
+  // Service isn't running at all
+  UNAVAILABLE = 3;
+  // Service is in some error state
+  ERROR = 4;
+}
+
+message GetServiceStateRequest {
+}
+
+message GetServiceStateReply {
+  ServiceState state = 1;
+  uint32 pid = 2; // process id
+  double uptime = 3;
+  repeated farm_ng.core.proto.Timestamp timestamps = 4;
+}
diff --git a/py/farm_ng/canbus/canbus_client.py b/py/farm_ng/canbus/canbus_client.py
index f8443e37..b50a007a 100644
--- a/py/farm_ng/canbus/canbus_client.py
+++ b/py/farm_ng/canbus/canbus_client.py
@@ -11,115 +11,31 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-import asyncio
 import logging
-from dataclasses import dataclass
 
-import grpc
 from farm_ng.canbus import canbus_pb2
 from farm_ng.canbus import canbus_pb2_grpc
-
+from farm_ng.service.service_client import ClientConfig
+from farm_ng.service.service_client import ServiceClient
 
 logging.basicConfig(level=logging.INFO)
 
 
-@dataclass
-class CanbusClientConfig:
-    """Canbus client configuration.
-
-    Attributes:
-        port (int): the port to connect to the server.
-        address (str): the address to connect to the server.
-    """
-
-    port: int  # the port of the server address
-    address: str = "localhost"  # the address name of the server
-
-
-class CanbusServiceState:
-    """Canbus service state."""
-
-    def __init__(self, proto: canbus_pb2.CanbusServiceState = None) -> None:
-        self._proto = canbus_pb2.CanbusServiceState.UNAVAILABLE
-        if proto is not None:
-            self._proto = proto
-
-    @property
-    def value(self) -> int:
-        return self._proto
-
-    @property
-    def name(self) -> str:
-        return canbus_pb2.CanbusServiceState.DESCRIPTOR.values[self.value].name
-
-    def __repr__(self) -> str:
-        return f"{self.__class__.__name__}: ({self.value}, {self.name})"
-
+class CanbusClient(ServiceClient):
+    """Amiga canbus client.
 
-class CanbusClient:
-    def __init__(self, config: CanbusClientConfig) -> None:
-        self.config = config
+    Client class to connect with the Amiga brain canbus service.
+    Inherits from ServiceClient.
 
-        self.logger = logging.getLogger(self.__class__.__name__)
+    Args:
+        config (ClientConfig): the grpc configuration data structure.
+    """
 
+    def __init__(self, config: ClientConfig) -> None:
+        super().__init__(config)
         # create a async connection with the server
-        self.channel = grpc.aio.insecure_channel(self.server_address)
         self.stub = canbus_pb2_grpc.CanbusServiceStub(self.channel)
 
-        self._state = CanbusServiceState()
-
-    @property
-    def state(self) -> CanbusServiceState:
-        return self._state
-
-    @property
-    def server_address(self) -> str:
-        """Returns the composed address and port."""
-        return f"{self.config.address}:{self.config.port}"
-
-    async def poll_service_state(self) -> None:
-        while True:
-            try:
-                self._state = await self.get_state()
-                await asyncio.sleep(0.1)
-            except asyncio.CancelledError:
-                self.logger.info("Got Cancelled Error")
-                break
-
-    async def get_state(self) -> CanbusServiceState:
-        state: CanbusServiceState
-        try:
-            response: canbus_pb2.GetServiceStateResponse = await self.stub.getServiceState(
-                canbus_pb2.GetServiceStateRequest()
-            )
-            state = CanbusServiceState(response.state)
-        except grpc.RpcError:
-            state = CanbusServiceState()
-        self.logger.debug("CanbusServiceStub: port -> %i state is: %s", self.config.port, state.name)
-        return state
-
-    async def connect_to_service(self) -> None:
-        """Starts the canbus streaming.
-
-        The service state will go to `RUNNING`.
-        """
-        state: CanbusServiceState = await self.get_state()
-        if state.value == canbus_pb2.CanbusServiceState.UNAVAILABLE:
-            return
-        await self.stub.startService(canbus_pb2.StartServiceRequest())
-
-    async def disconnect_from_service(self) -> None:
-        state: CanbusServiceState = await self.get_state()
-        if state.value == canbus_pb2.CanbusServiceState.UNAVAILABLE:
-            return
-        await self.stub.stopService(canbus_pb2.StopServiceRequest())
-
-    async def pause_service(self) -> None:
-        """Pauses the canbus streaming.
-
-        The service state will go from `RUNNING` to `IDLE`.
-        """
-        state: CanbusServiceState = await self.get_state()
-        if state.value == canbus_pb2.CanbusServiceState.UNAVAILABLE:
-            return
-        await self.stub.pauseService(canbus_pb2.PauseServiceRequest())
+    def stream(self):
+        """Return the async streaming object."""
+        return self.stub.streamCanbusMessages(canbus_pb2.StreamCanbusRequest())
diff --git a/py/farm_ng/oak/camera_client.py b/py/farm_ng/oak/camera_client.py
index 16603b11..4acb1cbd 100644
--- a/py/farm_ng/oak/camera_client.py
+++ b/py/farm_ng/oak/camera_client.py
@@ -14,13 +14,13 @@
 import asyncio
 import logging
 import time
-from dataclasses import dataclass
 
-import grpc
 from farm_ng.oak import oak_pb2
 from farm_ng.oak import oak_pb2_grpc
+from farm_ng.service.service_client import ClientConfig
+from farm_ng.service.service_client import ServiceClient
 
-__all__ = ["OakCameraClientConfig", "OakCameraClient", "OakCameraServiceState"]
+__all__ = ["OakCameraClient"]
 
 logging.basicConfig(level=logging.INFO)
 
@@ -61,86 +61,27 @@ def next_call_wait(self):
         return self.period - (time.monotonic() - self.last_call)
 
 
-@dataclass
-class OakCameraClientConfig:
-    """Camera client configuration.
-
-    Attributes:
-        port (int): the port to connect to the server.
-        address (str): the address to connect to the server.
-    """
-
-    port: int  # the port of the server address
-    address: str = "localhost"  # the address name of the server
-
-
-class OakCameraServiceState:
-    """Camera service state.
-
-    Possible state values:
-        - UNKNOWN: undefined state.
-        - RUNNING: the service is up AND streaming.
-        - IDLE: the service is up AND NOT streaming.
-        - UNAVAILABLE: the service is not available.
-
-    Args:
-        proto (oak_pb2.OakServiceState): protobuf message containing the camera state.
-    """
-
-    def __init__(self, proto: oak_pb2.OakServiceState = None) -> None:
-        self._proto = oak_pb2.OakServiceState.UNAVAILABLE
-        if proto is not None:
-            self._proto = proto
-
-    @property
-    def value(self) -> int:
-        """Returns the state enum value."""
-        return self._proto
-
-    @property
-    def name(self) -> str:
-        """Return the state name."""
-        return oak_pb2.OakServiceState.DESCRIPTOR.values[self.value].name
-
-    def __repr__(self) -> str:
-        return f"{self.__class__.__name__}: ({self.value}, {self.name})"
-
-
-class OakCameraClient:
+class OakCameraClient(ServiceClient):
     """Oak-D camera client.
 
     Client class to connect with the Amiga brain camera services.
-    Internally implements an `asyncio` gRPC channel.
+    Inherits from ServiceClient.
 
     Args:
-        config (OakCameraClientConfig): the camera configuration data structure.
+        config (ClientConfig): the grpc configuration data structure.
     """
 
-    def __init__(self, config: OakCameraClientConfig) -> None:
-        self.config = config
-
-        self.logger = logging.getLogger(self.__class__.__name__)
+    def __init__(self, config: ClientConfig) -> None:
+        super().__init__(config)
 
-        # create a async connection with the server
-        self.channel = grpc.aio.insecure_channel(self.server_address)
+        # create an async connection with the server
         self.stub = oak_pb2_grpc.OakServiceStub(self.channel)
 
-        self._state = OakCameraServiceState()
-
         self._mono_camera_settings = oak_pb2.CameraSettings(auto_exposure=True)
         self._rgb_camera_settings = oak_pb2.CameraSettings(auto_exposure=True)
 
         self.needs_update = False
 
-    @property
-    def state(self) -> OakCameraServiceState:
-        return self._state
-
-    @property
-    def server_address(self) -> str:
-        """Returns the composed address and port."""
-        return f"{self.config.address}:{self.config.port}"
-
     @property
     def rgb_settings(self) -> str:
         return self._rgb_camera_settings
@@ -150,54 +91,10 @@ def mono_settings(self) -> str:
         return self._mono_camera_settings
 
     def settings_reply(self, reply) -> None:
-        if reply.status == oak_pb2.ReplyStatus.OK:
+        if reply.success:
             self._mono_camera_settings.CopyFrom(reply.stereo_settings)
             self._rgb_camera_settings.CopyFrom(reply.rgb_settings)
 
-    async def poll_service_state(self) -> None:
-        while True:
-            try:
-                self._state = await self.get_state()
-                await asyncio.sleep(0.1)
-            except asyncio.CancelledError:
-                self.logger.info("Got CancellededError")
-                break
-
-    async def get_state(self) -> OakCameraServiceState:
-        """Async call to retrieve the state of the connected service."""
-        state: OakCameraServiceState
-        try:
-            response: oak_pb2.GetServiceStateResponse = await self.stub.getServiceState(
-                oak_pb2.GetServiceStateRequest()
-            )
-            state = OakCameraServiceState(response.state)
-        except grpc.RpcError:
-            state = OakCameraServiceState()
-        self.logger.debug("OakServiceStub: port -> %i state is: %s", self.config.port, state.name)
-        return state
-
-    async def connect_to_service(self) -> None:
-        """Start the camera streaming.
-
-        The service state will go from `IDLE` to `RUNNING`.
-        """
-        state: OakCameraServiceState = await self.get_state()
-        if state.value == oak_pb2.OakServiceState.UNAVAILABLE:
-            return
-        reply = await self.stub.cameraControl(oak_pb2.CameraControlRequest())
-        self.settings_reply(reply)
-        await self.stub.startService(oak_pb2.StartServiceRequest())
-
-    async def pause_service(self) -> None:
-        """Pauses the camera streaming.
-
-        The service state will go from `RUNNING` to `IDLE`.
-        """
-        state: OakCameraServiceState = await self.get_state()
-        if state.value == oak_pb2.OakServiceState.UNAVAILABLE:
-            return
-        await self.stub.pauseService(oak_pb2.PauseServiceRequest())
-
     async def send_settings(self) -> oak_pb2.CameraControlReply:
         request = oak_pb2.CameraControlRequest()
         request.stereo_settings.CopyFrom(self._mono_camera_settings)
@@ -205,6 +102,14 @@ async def send_settings(self) -> oak_pb2.CameraControlReply:
         self.needs_update = False
         return await self.stub.cameraControl(request)
 
+    async def get_calibration(self) -> oak_pb2.GetCalibrationReply:
+        """Return the oak calibration as oak_pb2.GetCalibrationReply.
+
+        Args:
+            request: proto defined request for oak calibration (oak_pb2.GetCalibrationRequest)
+        """
+        return await self.stub.getCalibration(oak_pb2.GetCalibrationRequest())
+
     @RateLimiter(period=1)
     def update_rgb_settings(self, rgb_settings):
         self.needs_update = True
diff --git a/py/farm_ng/service/service_client.py b/py/farm_ng/service/service_client.py
new file mode 100644
index 00000000..9044799b
--- /dev/null
+++ b/py/farm_ng/service/service_client.py
@@ -0,0 +1,104 @@
+# Copyright (c) farm-ng, inc.
+#
+# Licensed under the Amiga Development Kit License (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://github.com/farm-ng/amiga-dev-kit/blob/main/LICENSE
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import logging
+from dataclasses import dataclass
+
+import grpc
+from farm_ng.service import service_pb2
+from farm_ng.service import service_pb2_grpc
+
+
+@dataclass
+class ClientConfig:
+    """Client configuration.
+
+    Attributes:
+        port (int): the port to connect to the server.
+        address (str): the address to connect to the server.
+    """
+
+    port: int  # the port of the server address
+    address: str = "localhost"  # the address name of the server
+
+
+class ServiceState:
+    """Generic service state.
+
+    Possible state values:
+        - UNKNOWN: undefined state.
+        - RUNNING: the service is up AND streaming.
+        - IDLE: the service is up AND NOT streaming.
+        - UNAVAILABLE: the service is not available.
+        - ERROR: the service is an error state.
+
+    Args:
+        proto (service_pb2.ServiceState): protobuf message containing the service state.
+    """
+
+    def __init__(self, proto: service_pb2.ServiceState = None) -> None:
+        self._proto = service_pb2.ServiceState.UNAVAILABLE
+        if proto is not None:
+            self._proto = proto
+
+    @property
+    def value(self) -> int:
+        """Returns the state enum value."""
+        return self._proto
+
+    @property
+    def name(self) -> str:
+        """Return the state name."""
+        return service_pb2.ServiceState.DESCRIPTOR.values[self.value].name
+
+    def __repr__(self) -> str:
+        return f"{self.__class__.__name__}: ({self.value}, {self.name})"
+
+
+class ServiceClient:
+    """Generic client.
+
+    Generic client class to connect with the Amiga brain services.
+    Internally implements an `asyncio` gRPC channel.
+    Designed to be imported by service specific clients.
+
+    Args:
+        config (ClientConfig): the grpc configuration data structure.
+    """
+
+    def __init__(self, config: ClientConfig) -> None:
+        print('config in ServiceClient', config)
+        self.config = config
+
+        self.logger = logging.getLogger(self.__class__.__name__)
+
+        # create an async connection with the server
+        self.channel = grpc.aio.insecure_channel(self.server_address)
+        self.state_stub = service_pb2_grpc.ServiceStub(self.channel)
+
+    @property
+    def server_address(self) -> str:
+        """Returns the composed address and port."""
+        return f"{self.config.address}:{self.config.port}"
+
+    async def get_state(self) -> ServiceState:
+        state: ServiceState
+        try:
+            response: service_pb2.GetServiceStateReply = await self.state_stub.getServiceState(
+                service_pb2.GetServiceStateRequest()
+            )
+            state = ServiceState(response.state)
+        except grpc.RpcError:
+            state = ServiceState()
+        self.logger.debug(f" {self.__class__.__name__} on port: %s state is: %s", self.config.port, state.name)
+        return state
diff --git a/py/tests/test_canbus.py b/py/tests/test_canbus.py
index 54d97126..73aadad8 100644
--- a/py/tests/test_canbus.py
+++ b/py/tests/test_canbus.py
@@ -12,29 +12,29 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import pytest
-from farm_ng.canbus import canbus_pb2
 from farm_ng.canbus.canbus_client import CanbusClient
-from farm_ng.canbus.canbus_client import CanbusClientConfig
-from farm_ng.canbus.canbus_client import CanbusServiceState
+from farm_ng.service import service_pb2
+from farm_ng.service.service_client import ClientConfig
+from farm_ng.service.service_client import ServiceState
 
 
 @pytest.fixture(name="config")
-def fixture_config() -> CanbusClientConfig:
-    return CanbusClientConfig(port=50051)
+def fixture_config() -> ClientConfig:
+    return ClientConfig(port=50051)
 
 
 class TestCanbusClient:
-    def test_smoke_config(self, config: CanbusClientConfig) -> None:
+    def test_smoke_config(self, config: ClientConfig) -> None:
         assert config.port == 50051
         assert config.address == "localhost"
 
-    def test_smoke(self, config: CanbusClientConfig) -> None:
+    def test_smoke(self, config: ClientConfig) -> None:
         client = CanbusClient(config)
         assert client is not None
         assert client.server_address == "localhost:50051"
 
     @pytest.mark.asyncio
-    async def test_state(self, config: CanbusClientConfig) -> None:
+    async def test_state(self, config: ClientConfig) -> None:
         client = CanbusClient(config)
-        state: CanbusServiceState = await client.get_state()
-        assert state.value == canbus_pb2.CanbusServiceState.UNAVAILABLE
+        state: ServiceState = await client.get_state()
+        assert state.value == service_pb2.ServiceState.UNAVAILABLE
diff --git a/py/tests/test_oak.py b/py/tests/test_oak.py
index 4b520d5a..8354ed43 100644
--- a/py/tests/test_oak.py
+++ b/py/tests/test_oak.py
@@ -12,29 +12,29 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import pytest
-from farm_ng.oak import oak_pb2
 from farm_ng.oak.camera_client import OakCameraClient
-from farm_ng.oak.camera_client import OakCameraClientConfig
-from farm_ng.oak.camera_client import OakCameraServiceState
+from farm_ng.service import service_pb2
+from farm_ng.service.service_client import ClientConfig
+from farm_ng.service.service_client import ServiceState
 
 
 @pytest.fixture(name="config")
-def fixture_config() -> OakCameraClientConfig:
-    return OakCameraClientConfig(port=50051)
+def fixture_config() -> ClientConfig:
+    return ClientConfig(port=50051)
 
 
 class TestOakClient:
-    def test_smoke_config(self, config: OakCameraClientConfig) -> None:
+    def test_smoke_config(self, config: ClientConfig) -> None:
         assert config.port == 50051
         assert config.address == "localhost"
 
-    def test_smoke(self, config: OakCameraClientConfig) -> None:
+    def test_smoke(self, config: ClientConfig) -> None:
         client = OakCameraClient(config)
         assert client is not None
         assert client.server_address == "localhost:50051"
 
     @pytest.mark.asyncio
-    async def test_state(self, config: OakCameraClientConfig) -> None:
+    async def test_state(self, config: ClientConfig) -> None:
         client = OakCameraClient(config)
-        state: OakCameraServiceState = await client.get_state()
-        assert state.value == oak_pb2.OakServiceState.UNAVAILABLE
+        state: ServiceState = await client.get_state()
+        assert state.value == service_pb2.ServiceState.UNAVAILABLE
diff --git a/setup.cfg b/setup.cfg
index 34f3052b..15de34e5 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -24,6 +24,7 @@ python_requires = >=3.6
 setup_requires =
     wheel
     sophus
+    farm-ng-core
 install_requires =
     protobuf
     grpcio
@@ -43,6 +44,7 @@ packages =
     farm_ng
     farm_ng.canbus
     farm_ng.oak
+    farm_ng.service
 
 [options.extras_require]
 dev =
@@ -63,14 +65,11 @@ files = py/sophus, py/tests, py/examples
 ignore_missing_imports = True
 
 [options.package_data]
-farm_ng.controller =
-    *.proto
-
 farm_ng.oak =
     *.proto
 
 farm_ng.canbus =
     *.proto
 
-farm_ng.state_estimator =
+farm_ng.service =
     *.proto