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knock

How to use it.

knock [-u] [-d=ms] [-c=ms] [-v] [-h] host port1 port2...
Required:
host   host name or address
port   port numbers to knock

Optional:
-u     knock to UDP ports (Default TCP)
-d=ms  delay between knocks (Default 250 ms)
-c=ms  connect timeout delay (Default 250 ms)
-v     verbose output

Example

knock -u -d=500 -c=500 -v 12.3.4.56 1234 1235 1236 1237

Knocking to UDP ports 1234-1237 of IP 12.3.4.56 with 500 ms delay between knocks and maximum 500 ms timeout on every try to connect and some verbose messages.