I would like to query the mdns database of avahi-daemon through HTTP. Is there a way to do this?
mdns: is there a web-service interface to avahi-daemon?
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Maybe not HTML, but there is avahi-discover for Linux, https://packages.debian.org/buster/avahi-discover.

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After having spent some time with the source code and not having stumble on the functionality mentioned above, I believe that the current Avahi (0.6.23) does not implement nor exposes such feature.