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Add protocol module, video-node binary, query/web CLI tools

Browse Source 
- Protocol module: framed binary encoding for control requests/responses
  (ENUM_DEVICES, ENUM_CONTROLS, GET/SET_CONTROL, STREAM_OPEN/CLOSE)
- video-node: scans /dev/media* and /dev/video*, serves V4L2 device
  topology and controls over TCP; uses UDP discovery for peer announce
- query_cli: auto-discovers a node, queries devices and controls
- protocol_cli: low-level protocol frame decoder for debugging
- dev/web: Express 5 ESM web inspector — live SSE discovery picker,
  REST bridge to video-node, controls UI with sliders/selects/checkboxes
- Makefile: sequential module builds before cli/node to fix make -j races
- common.mk: add DEPFLAGS (-MMD -MP) for automatic header dependencies
- All module Makefiles: split compile/link, generate .d dependency files
- discovery: replace 100ms poll loop with pthread_cond_timedwait;
  respond to all announcements (not just new peers) for instant re-discovery
- ENUM_DEVICES response: carry device_caps (V4L2_CAP_*) per video node
  so clients can distinguish capture nodes from metadata nodes

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
mikael-lovqvists-claude-agent
2026-03-27 01:04:56 +00:00
parent 34386b635e
commit 62c25247ef
32 changed files with 3998 additions and 81 deletions
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42
src/node/Makefile Normal file
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ROOT := $(abspath ../..)
include $(ROOT)/common.mk
NODE_BUILD = $(BUILD)/node
MAIN_OBJ = $(NODE_BUILD)/main.o
COMMON_OBJ = $(BUILD)/common/error.o
MEDIA_OBJ = $(BUILD)/media_ctrl/media_ctrl.o
V4L2_OBJ = $(BUILD)/v4l2_ctrl/v4l2_ctrl.o
SERIAL_OBJ = $(BUILD)/serial/serial.o
TRANSPORT_OBJ = $(BUILD)/transport/transport.o
DISCOVERY_OBJ = $(BUILD)/discovery/discovery.o
CONFIG_OBJ = $(BUILD)/config/config.o
PROTOCOL_OBJ = $(BUILD)/protocol/protocol.o
.PHONY: all clean
all: $(NODE_BUILD)/video-node
$(NODE_BUILD)/video-node: $(MAIN_OBJ) \
$(COMMON_OBJ) $(MEDIA_OBJ) $(V4L2_OBJ) $(SERIAL_OBJ) \
$(TRANSPORT_OBJ) $(DISCOVERY_OBJ) $(CONFIG_OBJ) $(PROTOCOL_OBJ)
$(CC) $(CFLAGS) -o $@ $^ -lpthread
$(MAIN_OBJ): main.c | $(NODE_BUILD)
$(CC) $(CFLAGS) $(DEPFLAGS) -c -o $@ $<
$(COMMON_OBJ): ; $(MAKE) -C $(ROOT)/src/modules/common
$(MEDIA_OBJ): ; $(MAKE) -C $(ROOT)/src/modules/media_ctrl
$(V4L2_OBJ): ; $(MAKE) -C $(ROOT)/src/modules/v4l2_ctrl
$(SERIAL_OBJ): ; $(MAKE) -C $(ROOT)/src/modules/serial
$(TRANSPORT_OBJ): ; $(MAKE) -C $(ROOT)/src/modules/transport
$(DISCOVERY_OBJ): ; $(MAKE) -C $(ROOT)/src/modules/discovery
$(CONFIG_OBJ): ; $(MAKE) -C $(ROOT)/src/modules/config
$(PROTOCOL_OBJ): ; $(MAKE) -C $(ROOT)/src/modules/protocol
$(NODE_BUILD):
mkdir -p $@
clean:
rm -f $(NODE_BUILD)/video-node $(MAIN_OBJ) $(NODE_BUILD)/main.d
-include $(NODE_BUILD)/main.d

617
src/node/main.c Normal file
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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <dirent.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <sys/sysmacros.h>
#include <linux/videodev2.h>
#include "config.h"
#include "discovery.h"
#include "transport.h"
#include "protocol.h"
#include "media_ctrl.h"
#include "v4l2_ctrl.h"
#include "error.h"
/* -------------------------------------------------------------------------
* Device enumeration
* ------------------------------------------------------------------------- */
/* Entity type flag for a V4L2 I/O interface entity */
#define MEDIA_ENT_F_IO_V4L 0x10001u
#define MAX_VIDEO_NODES 32
#define MAX_MEDIA_DEVICES 8
#define MAX_VNODES_PER_MD 8
#define MAX_CONTROLS 256
/* 5 ("/dev/") + NAME_MAX (255) + 1 (NUL) = 261; round up */
#define DEV_PATH_MAX 264
struct VNode {
char path[DEV_PATH_MAX];
uint32_t dev_major;
uint32_t dev_minor;
uint32_t device_caps; /* V4L2_CAP_* from VIDIOC_QUERYCAP cap.device_caps */
int claimed;
char card[32]; /* VIDIOC_QUERYCAP card name, empty if unavailable */
};
struct MNode {
char path[DEV_PATH_MAX];
char entity_name[32];
uint32_t entity_type;
uint32_t entity_flags;
uint32_t device_caps;
uint8_t is_capture;
int vnode_index; /* index into VNode array */
};
struct MediaDev {
char path[DEV_PATH_MAX];
char driver[16];
char model[32];
char bus_info[32];
struct MNode vnodes[MAX_VNODES_PER_MD];
int vnode_count;
};
struct Device_List {
struct VNode vnodes[MAX_VIDEO_NODES];
int vnode_count;
struct MediaDev media[MAX_MEDIA_DEVICES];
int media_count;
};
static int scan_video_nodes(struct Device_List *dl) {
DIR *d = opendir("/dev");
if (!d) { return -1; }
struct dirent *ent;
while ((ent = readdir(d)) != NULL && dl->vnode_count < MAX_VIDEO_NODES) {
if (strncmp(ent->d_name, "video", 5) != 0) { continue; }
const char *suffix = ent->d_name + 5;
int numeric = (*suffix != '\0');
for (const char *p = suffix; *p; p++) {
if (*p < '0' || *p > '9') { numeric = 0; break; }
}
if (!numeric) { continue; }
struct VNode *v = &dl->vnodes[dl->vnode_count];
snprintf(v->path, sizeof(v->path), "/dev/%s", ent->d_name);
struct stat st;
if (stat(v->path, &st) != 0 || !S_ISCHR(st.st_mode)) { continue; }
v->dev_major = (uint32_t)major(st.st_rdev);
v->dev_minor = (uint32_t)minor(st.st_rdev);
v->claimed = 0;
v->card[0] = '\0';
/* Try to get card name */
int fd = open(v->path, O_RDONLY | O_NONBLOCK);
if (fd >= 0) {
struct v4l2_capability cap;
if (ioctl(fd, VIDIOC_QUERYCAP, &cap) == 0) {
strncpy(v->card, (const char *)cap.card, sizeof(v->card) - 1);
v->card[sizeof(v->card) - 1] = '\0';
/* use per-node caps when available, fall back to physical caps */
v->device_caps = (cap.capabilities & V4L2_CAP_DEVICE_CAPS)
? cap.device_caps : cap.capabilities;
}
close(fd);
}
dl->vnode_count++;
}
closedir(d);
return 0;
}
struct Entity_Cb_State {
struct Device_List *dl;
struct MediaDev *md;
};
static void entity_callback(const struct Media_Entity *entity, void *userdata) {
struct Entity_Cb_State *state = userdata;
struct Device_List *dl = state->dl;
struct MediaDev *md = state->md;
if (entity->dev_major == 0) { return; }
if (md->vnode_count >= MAX_VNODES_PER_MD) { return; }
/* Find matching video node by device number */
for (int i = 0; i < dl->vnode_count; i++) {
if (dl->vnodes[i].dev_major != entity->dev_major) { continue; }
if (dl->vnodes[i].dev_minor != entity->dev_minor) { continue; }
dl->vnodes[i].claimed = 1;
struct MNode *mn = &md->vnodes[md->vnode_count++];
strncpy(mn->path, dl->vnodes[i].path, sizeof(mn->path) - 1);
mn->path[sizeof(mn->path) - 1] = '\0';
strncpy(mn->entity_name, entity->name, sizeof(mn->entity_name) - 1);
mn->entity_name[sizeof(mn->entity_name) - 1] = '\0';
mn->entity_type = entity->type;
mn->entity_flags = entity->flags;
mn->device_caps = dl->vnodes[i].device_caps;
mn->is_capture = (mn->device_caps & V4L2_CAP_VIDEO_CAPTURE) ? 1 : 0;
mn->vnode_index = i;
break;
}
}
static void scan_media_devices(struct Device_List *dl) {
DIR *d = opendir("/dev");
if (!d) { return; }
struct dirent *ent;
while ((ent = readdir(d)) != NULL && dl->media_count < MAX_MEDIA_DEVICES) {
if (strncmp(ent->d_name, "media", 5) != 0) { continue; }
const char *suffix = ent->d_name + 5;
int numeric = (*suffix != '\0');
for (const char *p = suffix; *p; p++) {
if (*p < '0' || *p > '9') { numeric = 0; break; }
}
if (!numeric) { continue; }
struct MediaDev *md = &dl->media[dl->media_count];
snprintf(md->path, sizeof(md->path), "/dev/%s", ent->d_name);
md->vnode_count = 0;
struct Media_Ctrl *ctrl;
if (!APP_IS_OK(media_ctrl_open(md->path, &ctrl))) { continue; }
struct Media_Device_Info info;
if (APP_IS_OK(media_ctrl_get_info(ctrl, &info))) {
strncpy(md->driver, info.driver, sizeof(md->driver) - 1);
strncpy(md->model, info.model, sizeof(md->model) - 1);
strncpy(md->bus_info, info.bus_info, sizeof(md->bus_info) - 1);
md->driver[sizeof(md->driver) - 1] = '\0';
md->model[sizeof(md->model) - 1] = '\0';
md->bus_info[sizeof(md->bus_info) - 1] = '\0';
}
struct Entity_Cb_State state = { .dl = dl, .md = md };
media_ctrl_enum_entities(ctrl, entity_callback, &state);
media_ctrl_close(ctrl);
dl->media_count++;
}
closedir(d);
}
static void build_device_list(struct Device_List *dl) {
memset(dl, 0, sizeof(*dl));
scan_video_nodes(dl);
scan_media_devices(dl);
}
/* -------------------------------------------------------------------------
* Control enumeration helpers
* ------------------------------------------------------------------------- */
struct Ctrl_Build {
struct Proto_Control_Info items[MAX_CONTROLS];
char names[MAX_CONTROLS][32];
int count;
};
static void ctrl_enum_cb(
const struct V4l2_Ctrl_Desc *desc,
uint32_t menu_count, const struct V4l2_Menu_Item *menu_items,
void *userdata)
{
(void)menu_count; (void)menu_items;
struct Ctrl_Build *b = userdata;
if (b->count >= MAX_CONTROLS) { return; }
int i = b->count++;
strncpy(b->names[i], desc->name, 31);
b->names[i][31] = '\0';
b->items[i].id = desc->id;
b->items[i].type = (uint8_t)desc->type;
b->items[i].flags = desc->flags;
b->items[i].name = b->names[i];
b->items[i].min = desc->min;
b->items[i].max = desc->max;
b->items[i].step = desc->step;
b->items[i].default_val = desc->default_value;
b->items[i].current_val = desc->current_value;
b->items[i].menu_count = 0;
b->items[i].menu_items = NULL;
}
/* -------------------------------------------------------------------------
* Node state
* ------------------------------------------------------------------------- */
struct Node {
struct Config *config;
struct Transport_Server *server;
struct Discovery *discovery;
struct Device_List devices;
};
/* -------------------------------------------------------------------------
* Request handlers
* ------------------------------------------------------------------------- */
static void handle_enum_devices(struct Node *node,
struct Transport_Conn *conn, uint16_t request_id)
{
/* Build Proto_Media_Device_Info array */
struct Proto_Video_Node_Info vnodes[MAX_MEDIA_DEVICES * MAX_VNODES_PER_MD];
struct Proto_Media_Device_Info mdevs[MAX_MEDIA_DEVICES];
int vnode_offset = 0;
for (int i = 0; i < node->devices.media_count; i++) {
struct MediaDev *md = &node->devices.media[i];
mdevs[i].path = md->path;
mdevs[i].driver = md->driver;
mdevs[i].model = md->model;
mdevs[i].bus_info = md->bus_info;
mdevs[i].video_node_count = (uint8_t)md->vnode_count;
mdevs[i].video_nodes = &vnodes[vnode_offset];
for (int j = 0; j < md->vnode_count; j++) {
struct MNode *mn = &md->vnodes[j];
vnodes[vnode_offset + j].path = mn->path;
vnodes[vnode_offset + j].entity_name = mn->entity_name;
vnodes[vnode_offset + j].entity_type = mn->entity_type;
vnodes[vnode_offset + j].entity_flags= mn->entity_flags;
vnodes[vnode_offset + j].device_caps = mn->device_caps;
vnodes[vnode_offset + j].pad_flags = 0;
vnodes[vnode_offset + j].is_capture = mn->is_capture;
}
vnode_offset += md->vnode_count;
}
/* Build standalone list */
struct Proto_Standalone_Device_Info standalone[MAX_VIDEO_NODES];
int standalone_count = 0;
for (int i = 0; i < node->devices.vnode_count; i++) {
if (node->devices.vnodes[i].claimed) { continue; }
standalone[standalone_count].path = node->devices.vnodes[i].path;
standalone[standalone_count].name = node->devices.vnodes[i].card;
standalone_count++;
}
struct App_Error e = proto_write_enum_devices_response(conn,
request_id, PROTO_STATUS_OK,
mdevs, (uint16_t)node->devices.media_count,
standalone, (uint16_t)standalone_count);
if (!APP_IS_OK(e)) { app_error_print(&e); }
}
static void handle_enum_controls(struct Node *node,
struct Transport_Conn *conn,
const uint8_t *payload, uint32_t length)
{
struct Proto_Enum_Controls_Req req;
struct App_Error e = proto_read_enum_controls_req(payload, length, &req);
if (!APP_IS_OK(e)) {
proto_write_control_response(conn, 0,
PROTO_STATUS_INVALID_PARAMS, NULL, 0);
return;
}
/* Resolve device_index to a path across media-owned + standalone nodes */
const char *path = NULL;
int idx = (int)req.device_index;
for (int i = 0; i < node->devices.media_count && path == NULL; i++) {
struct MediaDev *md = &node->devices.media[i];
if (idx < md->vnode_count) {
path = md->vnodes[idx].path;
} else {
idx -= md->vnode_count;
}
}
if (path == NULL) {
/* Check standalone */
for (int i = 0; i < node->devices.vnode_count; i++) {
if (node->devices.vnodes[i].claimed) { continue; }
if (idx == 0) { path = node->devices.vnodes[i].path; break; }
idx--;
}
}
if (path == NULL) {
proto_write_control_response(conn, req.request_id,
PROTO_STATUS_NOT_FOUND, NULL, 0);
return;
}
struct V4l2_Ctrl_Handle *handle;
e = v4l2_ctrl_open(path, &handle);
if (!APP_IS_OK(e)) {
proto_write_control_response(conn, req.request_id,
PROTO_STATUS_ERROR, NULL, 0);
return;
}
struct Ctrl_Build build = { .count = 0 };
v4l2_ctrl_enumerate(handle, ctrl_enum_cb, &build);
v4l2_ctrl_close(handle);
e = proto_write_enum_controls_response(conn,
req.request_id, PROTO_STATUS_OK,
build.items, (uint16_t)build.count);
if (!APP_IS_OK(e)) { app_error_print(&e); }
}
static void handle_get_control(struct Node *node,
struct Transport_Conn *conn,
const uint8_t *payload, uint32_t length)
{
struct Proto_Get_Control_Req req;
struct App_Error e = proto_read_get_control_req(payload, length, &req);
if (!APP_IS_OK(e)) {
proto_write_control_response(conn, 0,
PROTO_STATUS_INVALID_PARAMS, NULL, 0);
return;
}
/* Same device resolution as enum_controls */
const char *path = NULL;
int idx = (int)req.device_index;
for (int i = 0; i < node->devices.media_count && path == NULL; i++) {
struct MediaDev *md = &node->devices.media[i];
if (idx < md->vnode_count) {
path = md->vnodes[idx].path;
} else {
idx -= md->vnode_count;
}
}
if (path == NULL) {
for (int i = 0; i < node->devices.vnode_count; i++) {
if (node->devices.vnodes[i].claimed) { continue; }
if (idx == 0) { path = node->devices.vnodes[i].path; break; }
idx--;
}
}
if (path == NULL) {
proto_write_control_response(conn, req.request_id,
PROTO_STATUS_NOT_FOUND, NULL, 0);
return;
}
struct V4l2_Ctrl_Handle *handle;
e = v4l2_ctrl_open(path, &handle);
if (!APP_IS_OK(e)) {
proto_write_control_response(conn, req.request_id,
PROTO_STATUS_ERROR, NULL, 0);
return;
}
int32_t value;
e = v4l2_ctrl_get(handle, req.control_id, &value);
v4l2_ctrl_close(handle);
if (!APP_IS_OK(e)) {
proto_write_control_response(conn, req.request_id,
PROTO_STATUS_ERROR, NULL, 0);
return;
}
e = proto_write_get_control_response(conn,
req.request_id, PROTO_STATUS_OK, value);
if (!APP_IS_OK(e)) { app_error_print(&e); }
}
static void handle_set_control(struct Node *node,
struct Transport_Conn *conn,
const uint8_t *payload, uint32_t length)
{
struct Proto_Set_Control_Req req;
struct App_Error e = proto_read_set_control_req(payload, length, &req);
if (!APP_IS_OK(e)) {
proto_write_control_response(conn, 0,
PROTO_STATUS_INVALID_PARAMS, NULL, 0);
return;
}
const char *path = NULL;
int idx = (int)req.device_index;
for (int i = 0; i < node->devices.media_count && path == NULL; i++) {
struct MediaDev *md = &node->devices.media[i];
if (idx < md->vnode_count) {
path = md->vnodes[idx].path;
} else {
idx -= md->vnode_count;
}
}
if (path == NULL) {
for (int i = 0; i < node->devices.vnode_count; i++) {
if (node->devices.vnodes[i].claimed) { continue; }
if (idx == 0) { path = node->devices.vnodes[i].path; break; }
idx--;
}
}
if (path == NULL) {
proto_write_control_response(conn, req.request_id,
PROTO_STATUS_NOT_FOUND, NULL, 0);
return;
}
struct V4l2_Ctrl_Handle *handle;
e = v4l2_ctrl_open(path, &handle);
if (!APP_IS_OK(e)) {
proto_write_control_response(conn, req.request_id,
PROTO_STATUS_ERROR, NULL, 0);
return;
}
e = v4l2_ctrl_set(handle, req.control_id, req.value);
v4l2_ctrl_close(handle);
uint16_t status = APP_IS_OK(e) ? PROTO_STATUS_OK : PROTO_STATUS_ERROR;
proto_write_control_response(conn, req.request_id, status, NULL, 0);
}
/* -------------------------------------------------------------------------
* Transport callbacks
* ------------------------------------------------------------------------- */
static void on_frame(struct Transport_Conn *conn,
struct Transport_Frame *frame, void *userdata)
{
struct Node *node = userdata;
if (frame->message_type == PROTO_MSG_CONTROL_REQUEST) {
struct Proto_Request_Header hdr;
struct App_Error e = proto_read_request_header(
frame->payload, frame->payload_length, &hdr);
if (!APP_IS_OK(e)) {
free(frame->payload);
return;
}
switch (hdr.command) {
case PROTO_CMD_ENUM_DEVICES:
handle_enum_devices(node, conn, hdr.request_id);
break;
case PROTO_CMD_ENUM_CONTROLS:
handle_enum_controls(node, conn,
frame->payload, frame->payload_length);
break;
case PROTO_CMD_GET_CONTROL:
handle_get_control(node, conn,
frame->payload, frame->payload_length);
break;
case PROTO_CMD_SET_CONTROL:
handle_set_control(node, conn,
frame->payload, frame->payload_length);
break;
default:
proto_write_control_response(conn, hdr.request_id,
PROTO_STATUS_UNKNOWN_CMD, NULL, 0);
break;
}
}
free(frame->payload);
}
static void on_connect(struct Transport_Conn *conn, void *userdata) {
(void)conn; (void)userdata;
printf("peer connected\n");
}
static void on_disconnect(struct Transport_Conn *conn, void *userdata) {
(void)conn; (void)userdata;
printf("peer disconnected\n");
}
/* -------------------------------------------------------------------------
* Config schema
* ------------------------------------------------------------------------- */
static const struct Config_Flag_Def function_flag_defs[] = {
{ "source", DISCOVERY_FLAG_SOURCE },
{ "relay", DISCOVERY_FLAG_RELAY },
{ "sink", DISCOVERY_FLAG_SINK },
{ "controller", DISCOVERY_FLAG_CONTROLLER },
{ NULL, 0 }
};
static const struct Config_Def schema[] = {
{ "node", "name", CONFIG_STRING, "unnamed:0", NULL },
{ "node", "site_id", CONFIG_UINT16, "0", NULL },
{ "node", "tcp_port", CONFIG_UINT16, "8000", NULL },
{ "node", "function", CONFIG_FLAGS, "source", function_flag_defs },
{ "discovery", "interval_ms", CONFIG_UINT32, "5000", NULL },
{ "discovery", "timeout_intervals", CONFIG_UINT32, "3", NULL },
{ "transport", "max_connections", CONFIG_UINT32, "16", NULL },
{ "transport", "max_payload", CONFIG_UINT32, "16777216", NULL },
{ NULL }
};
/* -------------------------------------------------------------------------
* Entry point
* ------------------------------------------------------------------------- */
static void usage(void) {
fprintf(stderr,
"usage: video-node <config-file>\n"
" video-node --defaults\n");
}
int main(int argc, char **argv) {
if (argc < 2) { usage(); return 1; }
struct Node node;
memset(&node, 0, sizeof(node));
/* Load config */
struct App_Error e;
if (strcmp(argv[1], "--defaults") == 0) {
e = config_defaults(&node.config, schema);
} else {
e = config_load(&node.config, argv[1], schema);
}
if (!APP_IS_OK(e)) { app_error_print(&e); return 1; }
uint16_t tcp_port = config_get_u16(node.config, "node", "tcp_port");
uint16_t site_id = config_get_u16(node.config, "node", "site_id");
uint32_t func = config_get_flags(node.config, "node", "function");
const char *name = config_get_str(node.config, "node", "name");
uint32_t interval = config_get_u32(node.config, "discovery", "interval_ms");
uint32_t timeout_i = config_get_u32(node.config, "discovery", "timeout_intervals");
uint32_t max_conn = config_get_u32(node.config, "transport", "max_connections");
uint32_t max_pay = config_get_u32(node.config, "transport", "max_payload");
printf("node: %s port=%u site=%u\n", name, tcp_port, site_id);
/* Enumerate devices */
printf("scanning devices...\n");
build_device_list(&node.devices);
printf("found %d media device(s), %d video node(s)\n",
node.devices.media_count, node.devices.vnode_count);
/* Start transport server */
struct Transport_Server_Config srv_cfg = {
.port = tcp_port,
.max_connections = (int)max_conn,
.max_payload = max_pay,
.on_frame = on_frame,
.on_connect = on_connect,
.on_disconnect = on_disconnect,
.userdata = &node,
};
e = transport_server_create(&node.server, &srv_cfg);
if (!APP_IS_OK(e)) { app_error_print(&e); return 1; }
e = transport_server_start(node.server);
if (!APP_IS_OK(e)) { app_error_print(&e); return 1; }
/* Start discovery */
struct Discovery_Config disc_cfg = {
.site_id = site_id,
.tcp_port = tcp_port,
.function_flags = (uint16_t)func,
.name = name,
.interval_ms = interval,
.timeout_intervals= timeout_i,
.on_peer_found = NULL,
.on_peer_lost = NULL,
};
e = discovery_create(&node.discovery, &disc_cfg);
if (!APP_IS_OK(e)) { app_error_print(&e); return 1; }
e = discovery_start(node.discovery);
if (!APP_IS_OK(e)) { app_error_print(&e); return 1; }
printf("ready\n");
pause();
return 0;
}