I have tried using ESP-CoAP but the coapclient.ino example does not work for me. The server in this example is 129.132.15.80. Is there any other server I can use to test my code? I have also tried coap.me but this code only accepts IP addresses. Are there any alternatives to this library that are regularly maintained?
Does ESP-CoAP library to implement CoAP protocol on ESP8266 still work?
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About the question for maintained c-implementations:
libcoap is a very common one. But I don't know, if there is a "out of the box" ESP 32 port available.
About the question for test-servers:
Many OS offers you a way to resolve a address as "coap.me" to their numeric address (e.g. unix nslookup coap.me => 134.102.218.18). The open source project Eclipse/Californium offers a sandbox as well (nslookup californium.eclipseprojects.io => 104.196.15.150). You may also try to run Californium's Plugtest Server locally (requires installed java).
In all cases, it's a good idea to get common with ip-capture tools as tcpdump or wireshark. A very first introduction may be found here