zeroconf_avahi_demos: demo_zeroconf

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00001 
00013 /*****************************************************************************
00014 ** Includes
00015 *****************************************************************************/
00016 
00017 #include <zeroconf_avahi/zeroconf.hpp>
00018 #include <zeroconf_msgs/PublishedService.h>
00019 
00020 /*****************************************************************************
00021 ** Main
00022 *****************************************************************************/
00023 
00024 int main(int argc, char **argv) {
00025 
00026         zeroconf_avahi::Zeroconf zeroconf;
00027         zeroconf_msgs::PublishedService service_dudette, service_dude, service_colliding_dude, service_not_advertised;
00028         service_dudette.name = "Dudette";
00029         service_dudette.type = "_ros-master._tcp";
00030         service_dudette.port = 8888;
00031         service_dudette.domain = "local";
00032         ROS_INFO("===== Adding a service =====");
00033         zeroconf.add_service(service_dudette);
00034         sleep(2);
00035         ROS_INFO("===== Adding a listener =====");
00036         zeroconf.add_listener(service_dudette.type);
00037         sleep(2);
00038         service_dude = service_dudette;
00039         service_dude.name = "Dude";
00040         service_dude.port = 8889;
00041         ROS_INFO("===== Adding another service =====");
00042         zeroconf.add_service(service_dude);
00043         sleep(2);
00044         ROS_INFO("===== Accidentally adding the service again =====");
00045         zeroconf.add_service(service_dude);
00046         sleep(2);
00047         service_colliding_dude = service_dude;
00048         // collision
00049         ROS_INFO("===== Local Collision =====");
00050         service_colliding_dude.port = 8890;
00051         zeroconf.add_service(service_colliding_dude);
00052         sleep(3);
00053         ROS_INFO("===== Removing some services =====");
00054         zeroconf.remove_service(service_dudette);
00055         zeroconf.remove_service(service_colliding_dude);
00056         service_not_advertised = service_dude;
00057         service_not_advertised.name = "OtherDude";
00058         ROS_INFO("===== Remove a non-advertised service =====");
00059         zeroconf.remove_service(service_not_advertised);
00060         ROS_INFO("===== Waiting for listener to detect removals =====");
00061         sleep(2); // chance for the removals to show up
00062         ROS_INFO("===== Remove a listener =====");
00063         zeroconf.remove_listener(service_dudette.type);
00064         return 0;
00065 }