fix topic check

Author: oxkitsune

booster_sdk/examples/x5_camera_rpc_check.rs

@@ -15,7 +15,9 @@ use booster_sdk::dds::{RpcClientOptions, X5_CAMERA_CONTROL_API_TOPIC};
 
 #[tokio::main]
 async fn main() -> Result<(), Box<dyn std::error::Error>> {
-    tracing_subscriber::fmt().with_env_filter("info").init();
+    let env_filter = tracing_subscriber::EnvFilter::try_from_default_env()
+        .unwrap_or_else(|_| tracing_subscriber::EnvFilter::new("error"));
+    tracing_subscriber::fmt().with_env_filter(env_filter).init();
 
     let domain_id = std::env::var("BOOSTER_DOMAIN_ID")
         .ok()
@@ -37,6 +39,9 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
         service_topic: X5_CAMERA_CONTROL_API_TOPIC.to_owned(),
     })?;
 
+    // Give DDS discovery a moment to settle before the first RPC call.
+    tokio::time::sleep(Duration::from_millis(500)).await;
+
     let started = Instant::now();
     match client.get_status().await {
         Ok(resp) => {

booster_sdk/src/dds/rpc.rs

@@ -284,6 +284,20 @@ impl RpcClient {
                     Ok(Some(sample)) => {
                         let response = sample.into_value();
 
+                        if response.uuid != request_id {
+                            if debug_enabled {
+                                tracing::debug!(
+                                    target: "booster_sdk::rpc",
+                                    service_topic = %service_topic,
+                                    api_id,
+                                    request_uuid = %request_id,
+                                    response_uuid = %response.uuid,
+                                    "ignoring response for a different request uuid"
+                                );
+                            }
+                            continue;
+                        }
+
                         let status_code = parse_status_from_header(&response.header).unwrap_or(0);
                         if debug_enabled {
                             tracing::debug!(

booster_sdk/src/dds/topics.rs

@@ -62,7 +62,7 @@ pub fn rpc_response_topic(service_topic: &str) -> TopicSpec {
     TopicSpec {
         name: format!("{service_topic}Resp"),
         type_name: TYPE_RPC_RESP,
-        qos: qos_best_effort_keep_last(10),
+        qos: qos_reliable_keep_last(10),
         kind: TopicKind::NoKey,
     }
 }