Some developers asked for such a library in the past and instead of
replying individually on each thread, I thought I'd announce it here:
http://www.teleal.org/projects/cling/
Cling is a complete, clean, and very flexible Java implementation of
the UPnP Device Architecture specification. Addition
You can use Cling (http://www.teleal.org/projects/cling/) which is my
open source UPnP library for Java. It works fine on Android 2.1 and
2.2, see the manual chapter here:
http://www.teleal.org/projects/cling/core/manual/cling-core-manual.html#chapter.Android
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