From db9055aab6be02bebae76ff5f5c09eb46f67ddec Mon Sep 17 00:00:00 2001
From: Oleg Dzhimiev <oleg@elphel.com>
Date: Fri, 4 Jan 2019 15:54:58 -0700
Subject: [PATCH] html.escape and request format

---
 src/init/ros2_master.py | 8 +++++---
 src/init/ros2_slave.py  | 3 ++-
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/init/ros2_master.py b/src/init/ros2_master.py
index ff8ea2c..6be53bb 100644
--- a/src/init/ros2_master.py
+++ b/src/init/ros2_master.py
@@ -20,15 +20,17 @@ def parse_command(string):
   e = ET.fromstring(string)
 
   tmp = e.find('cmd')
-  if tmp!=None:
+  if tmp!=None and tmp.text!=None:
     # have to escape: &
     msg['cmd'] = html.escape(tmp.text)
   else:
     msg['cmd'] = 'state'
 
-  tmp = e.findall('target')
+  tmp = e.find('targets')
 
-  if not tmp:
+  if tmp!=None and tmp.text!=None:
+    msg['targets'] = tmp.text.split(",")
+  else:
     msg['targets'] = clients
 
   return msg
diff --git a/src/init/ros2_slave.py b/src/init/ros2_slave.py
index dfb6b77..b704e07 100644
--- a/src/init/ros2_slave.py
+++ b/src/init/ros2_slave.py
@@ -2,6 +2,7 @@
 
 import subprocess
 import xml.etree.ElementTree as ET
+import html
 
 import rclpy
 from elphel_interfaces.srv import StrReqStrRes
@@ -40,7 +41,7 @@ def cmd_callback(req,res):
     except subprocess.CalledProcessError:
       output = "<error>CalledProcessError</error>".encode()
 
-    res.response = '<state>'+output.decode()+'</state>'
+    res.response = '<state>'+html.escape(output.decode())+'</state>'
 
   print('Slave sending: '+res.response)
 
-- 
2.18.1