use message id cache for RPC listener

Return back the message id cache feature to RPC listener, it was
removed while refactoring in I708c3d6676b974d8daac6817c15f596cdf35817b
See attached bug for more info.

We should not raise DuplicateMessageError to avoid rejecting the
previously ACK'ed message.

Closes-Bug: #1935883
Change-Id: Ie237e9e3fdc3fc27b3deb18b94751cdc3afd190e