Merge pull request #14 from husarnet/filter-env

You can use any env in `filter.yaml` (not only `ROS_NAMESPACE`)

Author: DominikN

Dockerfile

@@ -52,6 +52,7 @@ RUN curl -L https://github.com/mikefarah/yq/releases/download/${YQ_VERSION}/yq_l
 COPY --from=ddsrouter_builder /dds_router /dds_router
 
 COPY entrypoint.sh /
+COPY run_auto_config.sh /
 COPY config.lan.template.yaml /
 COPY config.discovery-server.template.yaml /
 COPY config.wan.template.yaml /

config_daemon.sh

@@ -5,6 +5,18 @@
 
 CFG_PATH=/var/tmp
 
+envsubst_custom() {
+    local content=$(<"$1")
+    echo "$content" | while IFS= read -r line; do
+        if [[ $line =~ \{\{env\ [\"]*([^\"]+)[\"]*\}\} ]]; then
+            var="${BASH_REMATCH[1]}"
+            value=$(eval echo "\$$var")
+            line=$(echo "$line" | sed "s/{{env [\"]*$var[\"]*}}/$value/g")
+        fi
+        echo "$line"
+    done
+}
+
 while true; do
     if [ -f $CFG_PATH/config.yaml ]; then
         # config.yaml exists
@@ -53,17 +65,26 @@ while true; do
             fi
         fi
     fi
-    
+
+    # if [[ -n "${FILTER}" ]]; then
+    #     yq -i '. * env(FILTER)' $CFG_PATH/config.yaml
+    # else
+    #     yq -i '. * load("/filter.yaml")' $CFG_PATH/config.yaml
+    # fi
+
+    # yq -i '(.allowlist[] | select(.name)).name |= sub("{{env [\"]*ROS_NAMESPACE[\"]*}}";"'$ROS_NAMESPACE'")' $CFG_PATH/config.yaml
+    # yq -i '(.blocklist[] | select(.name)).name |= sub("{{env [\"]*ROS_NAMESPACE[\"]*}}";"'$ROS_NAMESPACE'")' $CFG_PATH/config.yaml
+    # yq -i '(.builtin-topics[] | select(.name)).name |= sub("{{env [\"]*ROS_NAMESPACE[\"]*}}";"'$ROS_NAMESPACE'")' $CFG_PATH/config.yaml
+
     if [[ -n "${FILTER}" ]]; then
-        yq -i '. * env(FILTER)' $CFG_PATH/config.yaml
+        echo "$FILTER" >$CFG_PATH/filter.tmp.yaml
     else
-        yq -i '. * load("/filter.yaml")' $CFG_PATH/config.yaml
+        cp /filter.yaml $CFG_PATH/filter.tmp.yaml
     fi
 
-    yq -i '(.allowlist[] | select(.name)).name |= sub("{{env [\"]*ROS_NAMESPACE[\"]*}}";"'$ROS_NAMESPACE'")' $CFG_PATH/config.yaml
-    yq -i '(.blocklist[] | select(.name)).name |= sub("{{env [\"]*ROS_NAMESPACE[\"]*}}";"'$ROS_NAMESPACE'")' $CFG_PATH/config.yaml
-    yq -i '(.builtin-topics[] | select(.name)).name |= sub("{{env [\"]*ROS_NAMESPACE[\"]*}}";"'$ROS_NAMESPACE'")' $CFG_PATH/config.yaml
-    
+    envsubst_custom $CFG_PATH/filter.tmp.yaml >$CFG_PATH/filter.yaml
+    yq -i '. * load("'$CFG_PATH'/filter.yaml")' $CFG_PATH/config.yaml
+
     # remove comments
     yq -i '... comments=""' $CFG_PATH/config.yaml
 

devel_setup/compose.yaml

@@ -14,14 +14,17 @@ services:
     volumes:
       - ../config_daemon.sh:/config_daemon.sh
       - ../entrypoint.sh:/entrypoint.sh
+      - ../run_auto_config.sh:/run_auto_config.sh
       - ./filter.yaml:/filter.yaml
       - ./test2.sh:/test2.sh
       - ../config.discovery-server.template.yaml:/config.discovery-server.template.yaml
       - ../config.lan.template.yaml:/config.lan.template.yaml
       - ../config.wan.template.yaml:/config.wan.template.yaml
       - ../local-participants.yaml:/local-participants.yaml
     environment:
+      USER: $USER
       ROS_DOMAIN_ID: 123
+      RANDOM_ENV: abcde
       ROS_DISCOVERY_SERVER: ";;;;rosbot2r:123;;rosbot2r:874"
       DISCOVERY_SERVER_LISTENING_PORT: "12345"
       DISCOVERY_SERVER_ID: 1

devel_setup/filter.yaml

@@ -3,11 +3,11 @@
 allowlist:
   - name: rt/robocik/chatter
     type: "std_msgs::msg::dds_::String_"
-  - name: "rt/{{env ROS_NAMESPACE}}/chatter2"
+  - name: "rt/{{env RANDOM_ENV}}/chatter2"
     type: "std_msgs::msg::dds_::String_"
-  - name: rt/chatter3
+  - name: rt/{{env "RANDOM_ENV1"}}/chatter3
     type: "std_msgs::msg::dds_::String_"
 blocklist:
-  - name: "rt/rosout"
+  - name: "rt/{{env RANDOM_ENV1}}/rosout"
     type: "rcl_interfaces::msg::dds_::Log_"
 builtin-topics: []

devel_setup/test2.sh

@@ -1,16 +1,35 @@
 #!/bin/bash
 
-# Path to your YAML file
-yaml_file="/filter.yaml"
+# # Path to your YAML file
+# yaml_file="/filter.yaml"
 
-# Function to expand environment variables in the YAML content
-expand_envs_in_yaml() {
-    local file=$1
-    cp /filter.yaml /var/tmp/filter.yaml
-    yq -i '(.allowlist[] | select(.name)).name |= sub("{{env \"ROS_NAMESPACE\"}}"; env(ROS_NAMESPACE))' /var/tmp/filter.yaml
-    
-    # Use sed to replace '//' with '/'
-    sed -i 's#//#/#g' /var/tmp/filter.yaml
+# # Function to expand environment variables in the YAML content
+# expand_envs_in_yaml() {
+#     local file=$1
+#     cp /filter.yaml /var/tmp/filter.yaml
+#     yq -i '(.allowlist[] | select(.name)).name |= sub("{{env \"ROS_NAMESPACE\"}}"; env(ROS_NAMESPACE))' /var/tmp/filter.yaml
+
+#     # Use sed to replace '//' with '/'
+#     sed -i 's#//#/#g' /var/tmp/filter.yaml
+# }
+# # Call the function and output to terminal
+# expand_envs_in_yaml "$yaml_file"
+
+CFG_PATH="filter.tmp.yaml"
+RANDOM_ENV="abcd"  # Define your environment variable
+
+# Function to replace {{env "VARIABLE"}} with its value
+envsubst_custom() {
+    local content=$(<"$1")
+    echo "$content" | while IFS= read -r line; do
+        if [[ $line =~ \{\{env\ [\"]*([^\"]+)[\"]*\}\} ]]; then
+            var="${BASH_REMATCH[1]}"
+            value=$(eval echo "\$$var")
+            line=$(echo "$line" | sed "s/{{env [\"]*$var[\"]*}}/$value/g")
+        fi
+        echo "$line"
+    done
 }
-# Call the function and output to terminal
-expand_envs_in_yaml "$yaml_file"
+
+# envsubst_custom > "${CFG_PATH}.tmp" && mv "${CFG_PATH}.tmp" "$CFG_PATH"
+envsubst_custom