Simplify DDS subscriber + fix tracing setup (#7)

Author: oxkitsune

.gitignore

@@ -1,5 +1,7 @@
 /target
 
+examples/rust/**/target
+
 .ruff_cache/
 .mypy_cache/
 

Cargo.lock

@@ -1,9 +1,14 @@
 [workspace]
-members = ["booster_sdk", "booster_sdk_py"]
+members = [
+    "booster_sdk",
+    "booster_sdk_py",
+    "examples/rust/locomotion",
+    "examples/rust/look_around",
+]
 resolver = "2"
 
 [workspace.package]
-version = "0.1.0-alpha.10"
+version = "0.1.0-alpha.11"
 edition = "2024"
 authors = ["Team whIRLwind"]
 license = "MIT OR Apache-2.0"
@@ -25,6 +30,7 @@ pedantic = { level = "warn", priority = -1 }
 booster_sdk = { path = "booster_sdk" }
 
 tokio = { version = "1.42", features = ["full"] }
+futures = "0.3"
 rustdds = "0.11.8"
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"

Cargo.toml

@@ -10,6 +10,7 @@ readme.workspace = true
 
 [dependencies]
 tokio = { workspace = true }
+futures = { workspace = true }
 serde = { workspace = true }
 serde_json = { workspace = true }
 thiserror = { workspace = true }

booster_sdk/Cargo.toml

@@ -6,11 +6,13 @@
 
 use booster_sdk::client::loco::{BoosterClient, GripperCommand};
 use booster_sdk::types::{Hand, RobotMode};
+use tracing_subscriber::EnvFilter;
 
 #[tokio::main]
 async fn main() -> Result<(), Box<dyn std::error::Error>> {
     // Initialize logging
-    tracing_subscriber::fmt().with_env_filter("info").init();
+    let env_filter = EnvFilter::try_from_default_env().unwrap_or_else(|_| EnvFilter::new("info"));
+    tracing_subscriber::fmt().with_env_filter(env_filter).init();
 
     tracing::info!("Starting gripper control example");
 

booster_sdk/examples/gripper_control.rs

@@ -117,7 +117,9 @@ impl AiClient {
 
     /// 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))
+        Self::with_options(
+            RpcClientOptions::for_service(AI_API_TOPIC).with_startup_wait(startup_wait),
+        )
     }
 
     /// Create an AI client with custom RPC options.
@@ -175,7 +177,9 @@ impl LuiClient {
 
     /// 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))
+        Self::with_options(
+            RpcClientOptions::for_service(LUI_API_TOPIC).with_startup_wait(startup_wait),
+        )
     }
 
     /// Create a LUI client with custom RPC options.

booster_sdk/src/client/ai.rs

@@ -20,11 +20,6 @@ use serde::{Deserialize, Serialize};
 use serde_json::json;
 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: Duration = Duration::from_secs(30);
-
 /// High-level client for B1 locomotion control and telemetry.
 pub struct BoosterClient {
     rpc: RpcClient,
@@ -68,9 +63,7 @@ impl BoosterClient {
     /// Change the robot mode.
     pub async fn change_mode(&self, mode: RobotMode) -> Result<()> {
         let param = json!({ "mode": i32::from(mode) }).to_string();
-        self.rpc
-            .call_void_with_timeout(LocoApiId::ChangeMode, param, Some(CHANGE_MODE_TIMEOUT))
-            .await
+        self.rpc.call_void(LocoApiId::ChangeMode, param).await
     }
 
     /// Get the current robot mode.