Hello Daud,
The book is bluntly wrong on the subject.
The default state of a newly enabled port in STP is Listening. So after you power on switches, all ports will jump into Listening state, sending and receiving BPDUs. Of course, after exchanging at most a few BPDUs, it will be clear which ports are redundant, and they will fall into Blocking state, while the remaining ports will proceed through Listening, Learning into Forwarding.
If a topology change occurs, the primary result is the CAM content flushing. The RP and DP do not change or re-elect basing on the sole event of topology change, rather, their role changes basing on the contents of received BPDUs.
Feel welcome to ask further!
Best regards,
Peter