RSDK-12391: Optimize modular resource communication.

components/camera/server.go

@@ -180,6 +180,10 @@ func (s *serviceServer) GetPointCloud(
 		return nil, err
 	}
 
+	if camClient, ok := camera.(*client); ok {
+		return camClient.client.GetPointCloud(ctx, req)
+	}
+
 	pc, err := camera.NextPointCloud(ctx, req.Extra.AsMap())
 	if err != nil {
 		return nil, err

module/frame_system.go

@@ -0,0 +1,64 @@
+package module
+
+import (
+	"context"
+
+	"go.viam.com/rdk/pointcloud"
+	"go.viam.com/rdk/referenceframe"
+	"go.viam.com/rdk/resource"
+	"go.viam.com/rdk/robot/client"
+	"go.viam.com/rdk/robot/framesystem"
+)
+
+type frameSystemClient struct {
+	robotClient *client.RobotClient
+	resource.TriviallyCloseable
+	resource.TriviallyReconfigurable
+}
+
+// NewFrameSystemClient provides access to only the framesystem.Service functions contained inside RobotClient.
+func NewFrameSystemClient(robotClient *client.RobotClient) framesystem.Service {
+	return &frameSystemClient{robotClient: robotClient}
+}
+
+func (f *frameSystemClient) Name() resource.Name {
+	return framesystem.PublicServiceName
+}
+
+func (f *frameSystemClient) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) {
+	return nil, resource.ErrDoUnimplemented
+}
+
+func (f *frameSystemClient) FrameSystemConfig(ctx context.Context) (*framesystem.Config, error) {
+	return f.robotClient.FrameSystemConfig(ctx)
+}
+
+func (f *frameSystemClient) GetPose(ctx context.Context,
+	componentName, destinationFrame string,
+	supplementalTransforms []*referenceframe.LinkInFrame,
+	extra map[string]interface{},
+) (*referenceframe.PoseInFrame, error) {
+	return f.robotClient.GetPose(ctx, componentName, destinationFrame, supplementalTransforms, extra)
+}
+
+func (f *frameSystemClient) TransformPose(
+	ctx context.Context,
+	pose *referenceframe.PoseInFrame,
+	dst string,
+	supplementalTransforms []*referenceframe.LinkInFrame,
+) (*referenceframe.PoseInFrame, error) {
+	return f.robotClient.TransformPose(ctx, pose, dst, supplementalTransforms)
+}
+
+func (f *frameSystemClient) TransformPointCloud(
+	ctx context.Context,
+	srcpc pointcloud.PointCloud,
+	srcName,
+	dstName string,
+) (pointcloud.PointCloud, error) {
+	return f.robotClient.TransformPointCloud(ctx, srcpc, srcName, dstName)
+}
+
+func (f *frameSystemClient) CurrentInputs(ctx context.Context) (referenceframe.FrameSystemInputs, error) {
+	return f.robotClient.CurrentInputs(ctx)
+}