working on xml parser

Author: DominikN

eg8/dev1/dds_update/Dockerfile

@@ -1,10 +1,12 @@
 FROM python:3
 
+RUN mkdir /dds
+COPY ./cyclonedds.xml /dds
 WORKDIR /usr/src/app
 
 COPY requirements.txt ./
 RUN pip install --no-cache-dir -r requirements.txt
 
-COPY . .
+COPY ./dds_xml_updater.py .
 
 CMD [ "python", "./dds_xml_updater.py" ]

eg8/dev1/dds_update/cyclonedds.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="any">
+        <General>
+            <NetworkInterfaceAddress>auto</NetworkInterfaceAddress>
+            <AllowMulticast>false</AllowMulticast>
+            <MaxMessageSize>65500B</MaxMessageSize>
+            <FragmentSize>4000B</FragmentSize>
+            <Transport>udp6</Transport>
+        </General>      
+        <Discovery>
+            <Peers>
+                <Peer address="turtle-controller-1"/>
+                <!-- <Peer address="[IPv6 addr]"/> -->
+            </Peers>
+            <ParticipantIndex>auto</ParticipantIndex>
+        </Discovery>
+        <Internal>
+            <Watermarks>
+                <WhcHigh>500kB</WhcHigh>
+            </Watermarks>
+        </Internal>
+        <Tracing>
+            <Verbosity>severe</Verbosity>
+            <OutputFile>stdout</OutputFile>
+        </Tracing>
+    </Domain>
+</CycloneDDS>

eg8/dev1/dds_update/dds_xml_updater.py

@@ -1,9 +1,26 @@
+import os 
 import time
+import xml.etree.ElementTree as ET
+
 print("Hello World!")
 
+tree = ET.parse(os.path.join('/dds', 'cyclonedds.xml'))
+root = tree.getroot()
 
+for peer in root.findall('.//{https://cdds.io/config}Peer'):
+    print(peer.tag, peer.attrib)
+    print(peer.attrib['address'])
+    
 while True:
     time.sleep(2)
+    
+    # remove all Peers from xml
+    for peer in root.findall('.//{https://cdds.io/config}Peer'):
+        root.remove(peer)
+    
     hosts = open('/etc/hosts','r')
     for line in hosts:
-        print(line.split()[1:])
+        if(line.split()[2:6] == ['#', 'managed', 'by', 'Husarnet']):
+            print(line.split()[0])  # Husarnet IPv6 address
+            print(line.split()[1])  # Husarnet Hostname
+            ET.SubElement('.//{https://cdds.io/config}Peers', 'Peer', address=line.split()[0])

eg8/dev1/docker-compose.yml

@@ -4,7 +4,7 @@ services:
     dds_updater:
         build: dds_update/.
         volumes:
-            - shared_cyclonedds_xml:/cyclonedds.xml
+            - shared_cyclonedds_xml:/dds
         network_mode: service:husarnet
         stdin_open: true # docker run -i
         tty: true        # docker run -t
@@ -14,13 +14,13 @@ services:
             context: ../../
             dockerfile: eg8/dev1/Dockerfile
         volumes:
-            - shared_cyclonedds_xml:/cyclonedds.xml
+            - shared_cyclonedds_xml:/dds
         command:
             - bash
             - -c
             - |
                 source /ros2_ws/install/setup.bash
-                export CYCLONEDDS_URI=file:///cyclonedds.xml
+                export CYCLONEDDS_URI=file:///dds/cyclonedds.xml
                 ros2 run my_demo_pkg color_controller
         network_mode: service:husarnet
 
@@ -29,13 +29,13 @@ services:
             context: ../../
             dockerfile: eg8/dev1/Dockerfile
         volumes:
-            - shared_cyclonedds_xml:/cyclonedds.xml
+            - shared_cyclonedds_xml:/dds
         command:
             - bash
             - -c
             - |
                 source /ros2_ws/install/setup.bash
-                export CYCLONEDDS_URI=file:///cyclonedds.xml
+                export CYCLONEDDS_URI=file:///dds/cyclonedds.xml
                 ros2 run my_demo_pkg move_controller
         network_mode: service:husarnet