more testing

Author: oxkitsune

booster_sdk/src/dds/qos.rs

@@ -2,7 +2,7 @@
 
 use rustdds::{
     Duration, QosPolicies, QosPolicyBuilder,
-    policy::{History, Reliability},
+    policy::{Durability, History, Reliability},
 };
 
 pub fn qos_best_effort_keep_last(depth: i32) -> QosPolicies {
@@ -21,6 +21,16 @@ pub fn qos_reliable_keep_last(depth: i32) -> QosPolicies {
         .build()
 }
 
+pub fn qos_reliable_transient_local_keep_last(depth: i32) -> QosPolicies {
+    QosPolicyBuilder::new()
+        .durability(Durability::TransientLocal)
+        .reliability(Reliability::Reliable {
+            max_blocking_time: Duration::from_millis(100),
+        })
+        .history(History::KeepLast { depth })
+        .build()
+}
+
 pub fn qos_reliable_keep_all() -> QosPolicies {
     QosPolicyBuilder::new()
         .reliability(Reliability::Reliable {

booster_sdk/src/dds/topics.rs

@@ -4,7 +4,10 @@ use rustdds::{QosPolicies, Topic, TopicKind};
 
 use crate::types::{DdsError, Result};
 
-use super::qos::{qos_best_effort_keep_last, qos_reliable_keep_all, qos_reliable_keep_last};
+use super::qos::{
+    qos_best_effort_keep_last, qos_reliable_keep_all, qos_reliable_keep_last,
+    qos_reliable_transient_local_keep_last,
+};
 
 #[derive(Debug, Clone)]
 pub struct TopicSpec {
@@ -53,7 +56,7 @@ pub fn rpc_request_topic(service_topic: &str) -> TopicSpec {
     TopicSpec {
         name: format!("{service_topic}Req"),
         type_name: TYPE_RPC_REQ,
-        qos: qos_best_effort_keep_last(10),
+        qos: qos_reliable_keep_last(10),
         kind: TopicKind::NoKey,
     }
 }
@@ -62,7 +65,7 @@ pub fn rpc_response_topic(service_topic: &str) -> TopicSpec {
     TopicSpec {
         name: format!("{service_topic}Resp"),
         type_name: TYPE_RPC_RESP,
-        qos: qos_reliable_keep_last(10),
+        qos: qos_reliable_transient_local_keep_last(10),
         kind: TopicKind::NoKey,
     }
 }