diff --git a/src/labthings_fastapi/code_generation/__init__.py b/src/labthings_fastapi/code_generation/__init__.py
new file mode 100644
index 0000000..0524da3
--- /dev/null
+++ b/src/labthings_fastapi/code_generation/__init__.py
@@ -0,0 +1,222 @@
+from inspect import cleandoc
+import re
+from typing import Optional, Sequence
+
+from labthings_fastapi.thing_description.model import (
+    DataSchema,
+    ThingDescription,
+    Type,
+)
+
+
+def title_to_snake_case(title: str) -> str:
+    """Convert text to snake_case"""
+    # First, look for CamelCase so it doesn't get ignored:
+    uncameled = re.sub(r"([a-z0-9])([A-Z])", r"\1_\2", title)
+    words = re.findall(r"[a-zA-Z0-9]+", uncameled)
+    return "_".join(w.lower() for w in words)
+
+
+def snake_to_camel_case(snake: str) -> str:
+    """Convert snake_case to CamelCase"""
+    words = snake.split("_")
+    return "".join(word.capitalize() for word in words)
+
+
+def title_to_camel_case(title: str) -> str:
+    """Convert text to CamelCase"""
+    return snake_to_camel_case(title_to_snake_case(title))
+
+
+def clean_code(code: str, prefix: str = "") -> str:
+    """Clean up code by removing leading/trailing whitespace and empty lines"""
+    lines = cleandoc(code).split("\n")
+    return "\n".join([prefix + l for l in lines])
+
+
+def quoted_docstring(docstring: Optional[str], indent: int = 4) -> str:
+    """Wrap a docstring in triple quotes"""
+    if docstring is None:
+        return ""
+    prefix = " " * indent
+    lines = docstring.split("\n")
+    lines[0] = f'"""{lines[0]}'
+    lines.append('"""')
+    return "".join([f"{prefix}{line}\n" for line in lines])
+
+
+def dataschema_to_type(schema: DataSchema, models: dict[str, str], name: str = "anonymous") -> str:
+    """Convert a DataSchema to a Python type"""
+    if isinstance(schema.oneOf, Sequence) and len(schema.oneOf) > 0:
+        types = [dataschema_to_type(s, models) for s in schema.oneOf]
+        return f"Union[{", ".join(types)}]"
+    if schema.type == Type.string:
+        return "str"
+    elif schema.type == Type.integer:
+        return "int"
+    elif schema.type == Type.number:
+        return "float"
+    elif schema.type == Type.boolean:
+        return "bool"
+    elif schema.type == Type.array:
+        if schema.items is None:
+            return "list"
+        if isinstance(schema.items, Sequence):
+            types = [dataschema_to_type(s, models) for s in schema.items]
+            return f"tuple[{', '.join(types)}]"
+        return f"list[{dataschema_to_type(schema.items, models)}]"
+    elif schema.type == Type.object:
+        # If the object has no properties, return a generic dict
+        if not schema.properties:
+            return "dict[str, Any]"
+        # Objects with properties are converted to Pydantic models
+        if schema.title:
+            model_name = title_to_camel_case(schema.title + "_model")
+        else:
+            model_name = snake_to_camel_case(name + "_model")
+        if model_name in models:
+            i = 0
+            while f"{model_name}_{i}" in models:
+                i += 1
+            model_name = f"{model_name}_{i}"
+        models[model_name] = "# placeholder"
+        models[model_name] = dataschema_to_model(schema, models, model_name)
+        return model_name
+    else:
+        return "Any"
+    
+def dataschema_to_model(schema: DataSchema, models: dict[str, str], name: str) -> str:
+    """Convert a DataSchema to a Pydantic model"""
+    code = f"class {name}(BaseModel):\n"
+    for pname, property in schema.properties.items():
+        code += "    " + property_to_argument(pname, property, models) + "\n"
+    code += (
+        "\n"
+        "    class Config:\n"
+        "        extra = 'allow'\n"
+    )
+    return code
+
+
+def property_to_argument(
+        name: str,
+        property: DataSchema,
+        models: dict[str, str] = None,
+    ) -> str:
+    """Convert a property to a function argument"""
+    dtype = dataschema_to_type(property, models, name)
+    arg = f"{name}: {dtype}"
+    if "default" in property.model_fields_set:
+        if property.default is None:
+            arg += " = None"
+        elif isinstance(property.default, str):
+            arg += f' = "{property.default}"'
+        elif (
+            isinstance(property.default, bool)
+            or isinstance(property.default, int)
+            or isinstance(property.default, float)
+        ):
+            arg += f" = {property.default}"
+        else:
+            raise NotImplementedError(f"Unsupported default value: {property.default}")
+    return arg
+
+
+def input_model_to_arguments(model: DataSchema, models) -> list[str]:
+    """Convert an input model to a list of arguments"""
+    if model.type is None:
+        return []
+    if model.type != Type.object:
+        print(f"model.type: {model.type}")
+        raise NotImplementedError("Only object models are supported")
+    if not model.properties:
+        return []
+    args = []
+    if model.required:
+        for name in model.required:
+            property = model.properties[name]
+            args.append(
+                property_to_argument(name, property, models)
+            )
+    for name, property in model.properties.items():
+        if model.required and name in model.required:
+            continue
+        args.append(property_to_argument(name, property, models))
+        if "=" not in args[-1]:
+            args[-1] += " = ..."
+    return args
+
+
+def generate_client(thing_description: ThingDescription) -> str:
+    """Generate a client from a Thing Description"""
+    code = (
+        "from labthings_fastapi.client import ThingClient\n"
+        "from typing import Any, Union\n"
+        "from pydantic import BaseModel\n"
+        "\n"
+        "\n"
+        "# Model definitions\n"  # will be replaced at the end
+        "\n"
+        "\n"
+    )
+    models: dict[str, str] = {}
+    class_name = title_to_camel_case(thing_description.title)
+    code += f"class {class_name}Client(ThingClient):\n"
+    code += f'    """A client for the {thing_description.title} Thing"""\n\n'
+    for name, property in thing_description.properties.items():
+        pname = title_to_snake_case(name)
+        dtype = dataschema_to_type(property, models=models)
+        code += "    @property\n"
+        code += f"    def {pname}(self) -> {dtype}:\n"
+        code += quoted_docstring(property.description, indent=8)
+        code += f"        val = self.get_property(\"{name}\")\n"
+        if dtype in models:
+            # If we've defined a model, convert it
+            code += f"        return {dtype}(**val)\n\n"
+        else:
+            code += "        return val\n\n"
+
+        if not property.readOnly:
+            code += clean_code(
+                f'''
+                @{pname}.setter
+                def {pname}(self, value: {dtype}):
+                    self.set_property("{name}", value)
+                ''',
+                prefix = "    ",
+            ) + "\n\n"
+    
+    for name, action in thing_description.actions.items():
+        aname = title_to_snake_case(name)
+        args = input_model_to_arguments(action.input, models)
+        output_type = dataschema_to_type(action.output, models)
+        code += f"    def {aname}(\n"
+        code += "        self,\n"
+        for arg in args:
+            code += f"        {arg},\n"
+        code += "        **kwargs\n"
+        code += f"    ) -> {output_type}:\n"
+        code += quoted_docstring(action.description, indent=8)
+        for arg in args:
+            k = arg.split(":")[0].strip()
+            if arg.endswith("..."):
+                code += clean_code(
+                    f"""
+                    if {k} is not ...:
+                        kwargs[{k}] = {k}
+                    """,
+                    prefix = "        ",
+                ) + "\n"
+            else:
+                code += f"        kwargs[{k}] = {k}\n"
+        code += f'        result = self.invoke_action("{name}", **kwargs)\n'
+        if output_type in models:
+            code += f"        return {output_type}(**result)\n\n"
+        else:
+            code += "        return result\n\n"
+
+    # Include the model definitions
+    code = code.replace("# Model definitions", "\n\n".join(models.values()))
+
+    return code
+
diff --git a/tests/test_client_generation.py b/tests/test_client_generation.py
new file mode 100644
index 0000000..e0859b4
--- /dev/null
+++ b/tests/test_client_generation.py
@@ -0,0 +1,75 @@
+import os
+import tempfile
+import importlib.util
+
+from pydantic import BaseModel
+
+from labthings_fastapi.code_generation import generate_client
+import labthings_fastapi.code_generation as cg
+from labthings_fastapi.decorators import thing_action, thing_property
+from labthings_fastapi.example_things import MyThing
+from labthings_fastapi.thing import Thing
+
+
+def test_title_to_snake_case():
+    assert cg.title_to_snake_case("CamelCase") == "camel_case"
+    assert cg.title_to_snake_case("Camel") == "camel"
+    assert cg.title_to_snake_case("camel") == "camel"
+    assert cg.title_to_snake_case("CAMEL") == "camel"
+    assert cg.title_to_snake_case("CamelCASE") == "camel_case"
+
+
+def test_snake_to_camel_case():
+    assert cg.snake_to_camel_case("snake_case") == "SnakeCase"
+    assert cg.snake_to_camel_case("snake") == "Snake"
+    assert cg.snake_to_camel_case("SNAKE") == "Snake"
+    assert cg.snake_to_camel_case("snakeCASE_word") == "SnakecaseWord"
+
+
+def generate_and_verify(thing):
+    td = thing().thing_description()
+    code = generate_client(td)
+    with tempfile.TemporaryDirectory() as d:
+        fname = os.path.join(d, "client.py")
+        with open(fname, "w") as f:
+            f.write(code)
+        spec = importlib.util.spec_from_file_location("client", f.name)
+        module = importlib.util.module_from_spec(spec)
+        spec.loader.exec_module(module)
+    assert f"{thing.__name__}Client" in dir(module)
+
+
+def test_mything_generation():
+    generate_and_verify(MyThing)
+
+
+class TestModel(BaseModel):
+    a: int
+    b: str
+
+class NestedModel(BaseModel):
+    c: TestModel
+
+class ThingWithModels(Thing):
+    @thing_property
+    def prop1(self) -> TestModel:
+        return TestModel(a=1, b="test")
+    
+    @thing_action
+    def action1(self, arg1: TestModel) -> TestModel:
+        return arg1
+    
+    @thing_property
+    def prop2(self) -> NestedModel:
+        return NestedModel(c=TestModel(a=1, b="test"))
+
+
+def test_with_models():
+    generate_and_verify(ThingWithModels)
+    
+if __name__ == "__main__":
+    td = ThingWithModels().thing_description()
+    print("Thing Description:")
+    print(td.model_dump_json(indent=2, exclude_unset=True))
+    print("\nGenerated Client:")
+    print(generate_client(td))