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I want to launch an app each time new device appears on network. Do options like that exist in dhcp servers? Or what are the possible hacks to do it anyways?

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Answering my own question:

udhcpd can do pretty much what's necessary by combining options:

auto_time 1 #in seconds

notify_file /home/user/notifier.sh

Script is called each time udhcpd.leases file is written, which is 1 second (as set in auto_time). Then the script can analyze changes.