I want to discover a custom device that has both WiFi and Bluet that does not have a Bonjour server. Is there any way to discover it
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Not easily. That's why Bonjour a.k.a. Zeroconf was invented. The ideal solution is to add Bonjour/Zeroconf support on the custom device.
A poor alternative: If the device gets its address via DHCP, you could use the DHCP server to help you. E.g. many DHCP servers provide a web interface in which you can look up a list of DHCP clients' names and IP addresses. Some servers and routers have an option to serve the names of DHCP clients via the DNS server.

Craig McQueen
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This is not good news for my Bluetooth gadget running a tiny 8-bit microcontroller. Or is Bluetooth discovery a different story? – Don Jun 08 '12 at 17:15
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Zeroconf is for TCP/IP discovery, so it would only apply to your Bluetooth device if it's Bluetooth TCP/IP I guess. But being Bluetooth, there are other Bluetooth-specific ways to know the details about the device. – Craig McQueen Jun 11 '12 at 23:17