nuttx-apps/netutils/discover/README.txt

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apps/netutils/discover README.txt
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This daemon is useful for discovering devices in local networks, especially
with DHCP configured devices. It listens for UDP broadcasts which also can
include a device class so that groups of devices can be discovered. It is
also possible to address all classes with a kind of broadcast discover.
See nuttx/tools/discover.py for a client example.