Fix camera, light and AI/Lui RPC clients (#6)

Author: oxkitsune

Cargo.lock

@@ -3,7 +3,7 @@ members = ["booster_sdk", "booster_sdk_py"]
 resolver = "2"
 
 [workspace.package]
-version = "0.1.0-alpha.8"
+version = "0.1.0-alpha.10"
 edition = "2024"
 authors = ["Team whIRLwind"]
 license = "MIT OR Apache-2.0"

Cargo.toml

@@ -54,11 +54,8 @@ pip install booster-sdk
 
 ### Python API Example
 
-Note: Python bindings are experimental.
-
 ```python
-from booster_sdk.client.booster import BoosterClient
-from booster_sdk.types import GripperCommand, Hand, RobotMode
+from booster_sdk.client.booster import BoosterClient, GripperCommand, Hand, RobotMode
 
 client = BoosterClient()
 

README.md

@@ -1,5 +1,7 @@
 //! AI and LUI high-level RPC clients.
 
+use std::time::Duration;
+
 use serde::{Deserialize, Serialize};
 
 use crate::dds::{
@@ -113,6 +115,11 @@ impl AiClient {
         Self::with_options(RpcClientOptions::for_service(AI_API_TOPIC))
     }
 
+    /// Create an AI client with a custom startup wait before first RPC.
+    pub fn with_startup_wait(startup_wait: Duration) -> Result<Self> {
+        Self::with_options(RpcClientOptions::for_service(AI_API_TOPIC).with_startup_wait(startup_wait))
+    }
+
     /// Create an AI client with custom RPC options.
     pub fn with_options(options: RpcClientOptions) -> Result<Self> {
         let rpc = RpcClient::for_topic(options, AI_API_TOPIC)?;
@@ -166,6 +173,11 @@ impl LuiClient {
         Self::with_options(RpcClientOptions::for_service(LUI_API_TOPIC))
     }
 
+    /// Create a LUI client with a custom startup wait before first RPC.
+    pub fn with_startup_wait(startup_wait: Duration) -> Result<Self> {
+        Self::with_options(RpcClientOptions::for_service(LUI_API_TOPIC).with_startup_wait(startup_wait))
+    }
+
     /// Create a LUI client with custom RPC options.
     pub fn with_options(options: RpcClientOptions) -> Result<Self> {
         let rpc = RpcClient::for_topic(options, LUI_API_TOPIC)?;

booster_sdk/src/client/ai.rs

@@ -1,5 +1,7 @@
 //! LED light control RPC client.
 
+use std::time::Duration;
+
 use serde::{Deserialize, Serialize};
 
 use crate::dds::{LIGHT_CONTROL_API_TOPIC, RpcClient, RpcClientOptions};
@@ -49,6 +51,13 @@ impl LightControlClient {
         Self::with_options(RpcClientOptions::for_service(LIGHT_CONTROL_API_TOPIC))
     }
 
+    /// Create a light control client with a custom startup wait before first RPC.
+    pub fn with_startup_wait(startup_wait: Duration) -> Result<Self> {
+        Self::with_options(
+            RpcClientOptions::for_service(LIGHT_CONTROL_API_TOPIC).with_startup_wait(startup_wait),
+        )
+    }
+
     /// Create a light control client with custom RPC options.
     pub fn with_options(options: RpcClientOptions) -> Result<Self> {
         let rpc = RpcClient::for_topic(options, LIGHT_CONTROL_API_TOPIC)?;

booster_sdk/src/client/light_control.rs

@@ -1,5 +1,7 @@
 //! High-level B1 locomotion client built on DDS RPC and topic I/O.
 
+use std::time::Duration;
+
 use crate::dds::{
     BatteryState, BinaryData, ButtonEventMsg, DdsNode, DdsPublisher, DdsSubscription,
     GripperControl, LightControlMsg, MotionState, RemoteControllerState, RobotProcessStateMsg,
@@ -21,7 +23,7 @@ use typed_builder::TypedBuilder;
 // The controller may send an intermediate pending status (-1) before the
 // final success response. Mode transitions (especially PREPARE) can take
 // several seconds.
-const CHANGE_MODE_TIMEOUT: std::time::Duration = std::time::Duration::from_secs(30);
+const CHANGE_MODE_TIMEOUT: Duration = Duration::from_secs(30);
 
 /// High-level client for B1 locomotion control and telemetry.
 pub struct BoosterClient {
@@ -37,6 +39,11 @@ impl BoosterClient {
         Self::with_options(RpcClientOptions::default())
     }
 
+    /// Create a locomotion client with a custom startup wait before first RPC.
+    pub fn with_startup_wait(startup_wait: Duration) -> Result<Self> {
+        Self::with_options(RpcClientOptions::default().with_startup_wait(startup_wait))
+    }
+
     /// Create a locomotion client with custom RPC options.
     pub fn with_options(options: RpcClientOptions) -> Result<Self> {
         let rpc = RpcClient::new(options)?;

booster_sdk/src/client/loco.rs

@@ -1,5 +1,7 @@
 //! Vision service RPC client.
 
+use std::time::Duration;
+
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
 
@@ -59,6 +61,13 @@ impl VisionClient {
         Self::with_options(RpcClientOptions::for_service(VISION_API_TOPIC))
     }
 
+    /// Create a vision client with a custom startup wait before first RPC.
+    pub fn with_startup_wait(startup_wait: Duration) -> Result<Self> {
+        Self::with_options(
+            RpcClientOptions::for_service(VISION_API_TOPIC).with_startup_wait(startup_wait),
+        )
+    }
+
     /// Create a vision client with custom RPC options.
     pub fn with_options(options: RpcClientOptions) -> Result<Self> {
         let rpc = RpcClient::for_topic(options, VISION_API_TOPIC)?;

booster_sdk/src/client/vision.rs

@@ -1,5 +1,7 @@
 //! X5 camera control RPC client.
 
+use std::time::Duration;
+
 use serde::{Deserialize, Serialize};
 
 use crate::dds::{RpcClient, RpcClientOptions, X5_CAMERA_CONTROL_API_TOPIC};
@@ -64,6 +66,14 @@ impl X5CameraClient {
         Self::with_options(RpcClientOptions::for_service(X5_CAMERA_CONTROL_API_TOPIC))
     }
 
+    /// Create an X5 camera client with a custom startup wait before first RPC.
+    pub fn with_startup_wait(startup_wait: Duration) -> Result<Self> {
+        Self::with_options(
+            RpcClientOptions::for_service(X5_CAMERA_CONTROL_API_TOPIC)
+                .with_startup_wait(startup_wait),
+        )
+    }
+
     /// Create an X5 camera client with custom RPC options.
     pub fn with_options(options: RpcClientOptions) -> Result<Self> {
         let rpc = RpcClient::for_topic(options, X5_CAMERA_CONTROL_API_TOPIC)?;

booster_sdk/src/client/x5_camera.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 {