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/*
Aseba - an event-based framework for distributed robot control
Copyright (C) 2007--2016:
Stephane Magnenat <stephane at magnenat dot net>
(http://stephane.magnenat.net)
and other contributors, see authors.txt for details
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published
by the Free Software Foundation, version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <iostream>
#include <functional>
#include <unordered_set>
#include "../../common/utils/utils.h"
#include "../../common/zeroconf/zeroconf-thread.h"
namespace Aseba
{
using namespace std;
class TargetLister : public ThreadZeroconf
{
virtual void targetFound(const Aseba::Zeroconf::TargetInformation & target) override
{
// output could be JSON but for now is Dashel target [Target name (DNS domain)]
cout << target.host << ";port=" << target.port;
cout << " [" << target.name << " (" << target.regtype + "." + target.domain << ")]" << endl;
// also output properties, typically the DNS-encoded full host name and fields from TXT record
for (auto const& field: target.properties)
{
cout << "\t" << field.first << ":";
// ids and pids are a special case because they contain vectors of 16-bit integers
if (field.first.rfind("ids") == field.first.size()-3)
for (size_t i = 0; i < field.second.length(); i += 2)
cout << " " << (int(field.second[i])<<8) + int(field.second[i+1]);
else
cout << " " << field.second;
cout << endl;
}
}
public:
void run()
{
// run 10 seconds
UnifiedTime(10, 0).sleep();
}
};
}
int main(int argc, char* argv[])
{
// Browse for _aseba._tcp services on all interfaces
Aseba::TargetLister lister;
lister.browse();
lister.run();
}
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