Wrong order while composing the header and payload in ROS2 service.

Signed-off-by: ChenYing Kuo <evshary@gmail.com>
eclipse-zenoh · Sep 30, 2024 · 7e6e216 · 7e6e216
1 parent b3e4448
commit 7e6e216
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/zenoh-plugin-ros2dds/src/route_service_cli.rs b/zenoh-plugin-ros2dds/src/route_service_cli.rs
@@ -364,9 +364,9 @@ fn route_dds_request_to_zenoh(
         slice.subslice(0..4),            // header: 4 bytes
         is_cdr_little_endian(slice.as_ref()), // check endianness flag
     ) {
-        (Some(header), Some(Ok(request_id)), Some(payload), Some(is_little_endian)) => {
+        (Some(payload), Some(Ok(request_id)), Some(header), Some(is_little_endian)) => {
             let request_id = CddsRequestHeader::from_slice(request_id, is_little_endian);
-            (header, request_id, payload)
+            (payload, request_id, header)
         }
         _ => {
             tracing::warn!("{route_id}: received invalid request: {sample:0x?} (less than 20 bytes) dropping it");

diff --git a/zenoh-plugin-ros2dds/src/route_service_srv.rs b/zenoh-plugin-ros2dds/src/route_service_srv.rs
@@ -451,9 +451,9 @@ fn route_dds_reply_to_zenoh(
         slice.subslice(0..4),            // header: 4 bytes
         is_cdr_little_endian(slice.as_ref()), // check endianness flag
     ) {
-        (Some(header), Some(Ok(request_id)), Some(payload), Some(is_little_endian)) => {
+        (Some(payload), Some(Ok(request_id)), Some(header), Some(is_little_endian)) => {
             let request_id = CddsRequestHeader::from_slice(request_id, is_little_endian);
-            (header, request_id, payload)
+            (payload, request_id, header)
         }
         _ => {
             tracing::warn!("{route_id}: received invalid request: {sample:0x?} (less than 20 bytes) dropping it");