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/usr/bin/bluez-test-discovery is in bluez 4.99-2.

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#!/usr/bin/python

import gobject

import dbus
import dbus.mainloop.glib
from optparse import OptionParser, make_option

def device_found(address, properties):
	print "[ " + address + " ]"

	for key in properties.keys():
		value = properties[key]
		if (key == "Class"):
			print "    %s = 0x%06x" % (key, value)
		else:
			print "    %s = %s" % (key, value)

	print

def property_changed(name, value):
	if (name == "Discovering" and not value):
		mainloop.quit()

if __name__ == '__main__':
	dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)

	bus = dbus.SystemBus()
	manager = dbus.Interface(bus.get_object("org.bluez", "/"),
							"org.bluez.Manager")

	option_list = [
			make_option("-i", "--device", action="store",
					type="string", dest="dev_id"),
			]
	parser = OptionParser(option_list=option_list)

	(options, args) = parser.parse_args()

	if options.dev_id:
		adapter_path = manager.FindAdapter(options.dev_id)
	else:
		adapter_path = manager.DefaultAdapter()

	adapter = dbus.Interface(bus.get_object("org.bluez", adapter_path),
							"org.bluez.Adapter")

	bus.add_signal_receiver(device_found,
			dbus_interface = "org.bluez.Adapter",
					signal_name = "DeviceFound")

	bus.add_signal_receiver(property_changed,
			dbus_interface = "org.bluez.Adapter",
					signal_name = "PropertyChanged")

	adapter.StartDiscovery()

	mainloop = gobject.MainLoop()
	mainloop.run()