int
main(int argc, const char **argv)
{
int i;
// A service discovery object
player_sd_t* sd;
// Initialize multiclient
mclient = playerc_mclient_create();
// Initialize service discovery
sd = player_sd_init();
// Look for Player devices
if(player_sd_browse(sd, 0.0, 1, browse_cb) != 0)
{
puts("player_sd_browse error");
exit(-1);
}
for(;;)
{
// Update name service
player_sd_update(sd,0.0);
// Wait for new data from server
playerc_mclient_read(mclient,10);
}
// Shutdown
for(i=0;i<num_laserdevs;i++)
{
playerc_laser_unsubscribe(lasers[i]);
playerc_laser_destroy(lasers[i]);
playerc_client_disconnect(clients[i]);
playerc_client_destroy(clients[i]);
}
playerc_mclient_destroy(mclient);
return(0);
}
int
player_sd_browse(player_sd_t* sd,
double timeout,
int keepalive,
player_sd_browse_callback_fn_t cb)
{
DNSServiceErrorType sdErr;
player_sd_mdns_t* mdns = (player_sd_mdns_t*)(sd->sdRef);
int retval=0;
struct timeval curr;
double currtime, starttime;
double polltime;
// Close any previously open session
if(mdns->browseRef_valid)
{
DNSServiceRefDeallocate(mdns->browseRef);
mdns->browseRef_valid = 0;
}
mdns->flags = 0;
// Initiate the browse session
if((sdErr = DNSServiceBrowse(&(mdns->browseRef),
0,
0,
PLAYER_SD_SERVICENAME,
NULL,
browseCB,
(void*)sd)) != kDNSServiceErr_NoError)
{
PLAYER_ERROR1("DNSServiceBrowse returned error: %d", sdErr);
return(-1);
}
mdns->browseRef_valid = 1;
mdns->callb = cb;
// Should we wait here for responses?
if(timeout != 0.0)
{
// Record the current time
gettimeofday(&curr,NULL);
starttime = currtime = curr.tv_sec + curr.tv_usec / 1e6;
// Update until the requested time has elapsed
while((timeout < 0.0) || ((currtime - starttime) < timeout))
{
// Set up to poll on the DNSSD socket
if(timeout > 0.0)
polltime = timeout - (currtime - starttime);
else
polltime = -1.0;
if((retval = player_sd_update(sd,polltime)) != 0)
break;
gettimeofday(&curr,NULL);
currtime = curr.tv_sec + curr.tv_usec / 1e6;
}
}
// Should we leave the session open?
if(!keepalive)
{
DNSServiceRefDeallocate(mdns->browseRef);
mdns->browseRef_valid = 0;
}
return(retval);
}
