demo_zeroconf_api.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <zeroconf_avahi/zeroconf.hpp>
#include <zeroconf_msgs/PublishedService.h>
#include <ros/ros.h>

/*****************************************************************************
** Main
*****************************************************************************/

int main(int argc, char **argv) {

        zeroconf_avahi::Zeroconf zeroconf;
        zeroconf_msgs::PublishedService service_dudette, service_dude, service_colliding_dude, service_not_advertised;
        service_dudette.name = "Dudette";
        service_dudette.type = "_ros-master._tcp";
        service_dudette.port = 8888;
        service_dudette.domain = "local";
        ROS_INFO("===== Adding a service =====");
        zeroconf.add_service(service_dudette);
        sleep(2);
        ROS_INFO("===== Adding a listener =====");
        zeroconf.add_listener(service_dudette.type);
        sleep(2);
        service_dude = service_dudette;
        service_dude.name = "Dude";
        service_dude.port = 8889;
        ROS_INFO("===== Adding another service =====");
        zeroconf.add_service(service_dude);
        sleep(2);
        ROS_INFO("===== Accidentally adding the service again =====");
        zeroconf.add_service(service_dude);
        sleep(2);
        service_colliding_dude = service_dude;
        // collision
        ROS_INFO("===== Local Collision =====");
        service_colliding_dude.port = 8890;
        zeroconf.add_service(service_colliding_dude);
        sleep(3);
        ROS_INFO("===== Removing some services =====");
        zeroconf.remove_service(service_dudette);
        zeroconf.remove_service(service_colliding_dude);
        service_not_advertised = service_dude;
        service_not_advertised.name = "OtherDude";
        ROS_INFO("===== Remove a non-advertised service =====");
        zeroconf.remove_service(service_not_advertised);
        ROS_INFO("===== Waiting for listener to detect removals =====");
        sleep(2); // chance for the removals to show up
        ROS_INFO("===== Remove a listener =====");
        zeroconf.remove_listener(service_dudette.type);
        return 0;
}