Revision: 7329
http://playerstage.svn.sourceforge.net/playerstage/?rev=7329&view=rev
Author: rtv
Date: 2009-02-13 07:10:11 +0000 (Fri, 13 Feb 2009)
Log Message:
-----------
grippers partially implemented. they don't lift anything yet
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr.cc
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/libstage/block.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_fiducial.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/typetable.cc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/examples/ctrl/fasr.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr.cc 2009-02-10 19:48:30 UTC (rev
7328)
+++ code/stage/trunk/examples/ctrl/fasr.cc 2009-02-13 07:10:11 UTC (rev
7329)
@@ -50,6 +50,7 @@
ModelRanger* ranger;
ModelFiducial* fiducial;
ModelBlobfinder* blobfinder;
+ ModelGripper* gripper;
Model *source, *sink;
int avoidcount, randcount;
int work_get, work_put;
@@ -82,6 +83,7 @@
ranger( (ModelRanger*)pos->GetUnusedModelOfType(
MODEL_TYPE_RANGER )),
fiducial( (ModelFiducial*)pos->GetUnusedModelOfType(
MODEL_TYPE_FIDUCIAL )),
blobfinder( (ModelBlobfinder*)pos->GetUnusedModelOfType(
MODEL_TYPE_BLOBFINDER )),
+ gripper( (ModelGripper*)pos->GetUnusedModelOfType(
MODEL_TYPE_GRIPPER )),
source(source),
sink(sink),
avoidcount(0),
@@ -133,6 +135,14 @@
void Robot::Dock()
{
+ // close the grippers so they can be pushed into the charger
+ ModelGripper::data_t gripper_data = gripper->GetData();
+
+ if( gripper_data.paddles != ModelGripper::PADDLE_CLOSED )
+ gripper->CommandClose();
+ else if( gripper_data.lift != ModelGripper::LIFT_UP )
+ gripper->CommandUp();
+
if( charger_ahoy )
{
double a_goal = normalize( charger_bearing );
@@ -183,9 +193,30 @@
void Robot::UnDock()
{
- if( charger_range < 0.3 )
- pos->SetXSpeed( -0.05 );
+ const stg_meters_t gripper_distance = 0.2;
+ const stg_meters_t back_off_distance = 0.3;
+ const stg_meters_t back_off_speed = -0.05;
+
+ // back up a bit
+ if( charger_range < back_off_distance )
+ pos->SetXSpeed( back_off_speed );
else
+ pos->SetXSpeed( 0.0 );
+
+ // once we have backed off a bit, open and lower the gripper
+ ModelGripper::data_t gripper_data = gripper->GetData();
+ if( charger_range > gripper_distance )
+ {
+ if( gripper_data.paddles != ModelGripper::PADDLE_OPEN )
+ gripper->CommandOpen();
+ else if( gripper_data.lift != ModelGripper::LIFT_DOWN )
+ gripper->CommandDown();
+ }
+
+ // if the gripper is down and open and we're away from the charger, undock
is finished
+ if( gripper_data.paddles == ModelGripper::PADDLE_OPEN &&
+ gripper_data.lift == ModelGripper::LIFT_DOWN &&
+ charger_range > back_off_distance )
mode = MODE_WORK;
}
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2009-02-10 19:48:30 UTC (rev
7328)
+++ code/stage/trunk/libstage/CMakeLists.txt 2009-02-13 07:10:11 UTC (rev
7329)
@@ -4,6 +4,7 @@
include_directories(${PROJECT_BINARY_DIR})
set( stageSrcs ancestor.cc
+ model_gripper.cc
block.cc
blockgroup.cc
camera.cc
Modified: code/stage/trunk/libstage/block.cc
===================================================================
--- code/stage/trunk/libstage/block.cc 2009-02-10 19:48:30 UTC (rev 7328)
+++ code/stage/trunk/libstage/block.cc 2009-02-13 07:10:11 UTC (rev 7329)
@@ -61,6 +61,80 @@
g_ptr_array_free( candidate_cells, TRUE );
}
+void Block::Translate( double x, double y )
+{
+ for( unsigned int p=0; p<pt_count; p++)
+ {
+ pts[p].x += x;
+ pts[p].y += y;
+ }
+
+ // force redraw
+ mod->blockgroup.BuildDisplayList( mod );
+}
+
+
+double Block::CenterY()
+{
+ double min = billion;
+ double max = -billion;
+
+ for( unsigned int p=0; p<pt_count; p++)
+ {
+ if( pts[p].y > max ) max = pts[p].y;
+ if( pts[p].y < min ) min = pts[p].y;
+ }
+
+ // return the value half way between max and min
+ return( min + (max - min)/2.0 );
+}
+
+double Block::CenterX()
+{
+ double min = billion;
+ double max = -billion;
+
+ for( unsigned int p=0; p<pt_count; p++)
+ {
+ if( pts[p].x > max ) max = pts[p].x;
+ if( pts[p].x < min ) min = pts[p].x;
+ }
+
+ // return the value half way between maxx and min
+ return( min + (max - min)/2.0 );
+}
+
+void Block::SetCenter( double x, double y )
+{
+ // move the block by the distance required to bring its center to
+ // the requested position
+ Translate( x-CenterX(), y-CenterY() );
+}
+
+void Block::SetCenterY( double y )
+{
+ // move the block by the distance required to bring its center to
+ // the requested position
+ Translate( 0, y-CenterY() );
+}
+
+void Block::SetCenterX( double x )
+{
+ // move the block by the distance required to bring its center to
+ // the requested position
+ Translate( x-CenterX(), 0 );
+}
+
+void Block::SetZ( double min, double max )
+{
+ local_z.min = min;
+ local_z.max = max;
+
+ // force redraw
+ mod->blockgroup.BuildDisplayList( mod );
+}
+
+
stg_color_t Block::GetColor()
{
return( inherit_color ? mod->color : color );
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-02-10 19:48:30 UTC (rev 7328)
+++ code/stage/trunk/libstage/model.cc 2009-02-13 07:10:11 UTC (rev 7329)
@@ -374,11 +374,11 @@
}
-void Model::AddBlockRect( stg_meters_t x,
- stg_meters_t y,
- stg_meters_t dx,
- stg_meters_t dy,
- stg_meters_t dz )
+Block* Model::AddBlockRect( stg_meters_t x,
+
stg_meters_t y,
+
stg_meters_t dx,
+
stg_meters_t dy,
+
stg_meters_t dz )
{
UnMap();
@@ -392,11 +392,15 @@
pts[3].x = x;
pts[3].y = y + dy;
- blockgroup.AppendBlock( new Block( this,
- pts, 4,
- 0, dz,
- color,
- true ) );
+ Block* newblock = new Block( this,
+ pts,
4,
+ 0, dz,
+ color,
+ true );
+
+ blockgroup.AppendBlock( newblock );
+
+ return newblock;
}
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2009-02-10 19:48:30 UTC (rev
7328)
+++ code/stage/trunk/libstage/model_fiducial.cc 2009-02-13 07:10:11 UTC (rev
7329)
@@ -262,7 +262,7 @@
if ( !showFiducialData )
return;
-// // draw the FOV
+ // draw the FOV
// GLUquadric* quadric = gluNewQuadric();
// PushColor( 0,0,0,0.2 );
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2009-02-10 19:48:30 UTC (rev
7328)
+++ code/stage/trunk/libstage/model_laser.cc 2009-02-13 07:10:11 UTC (rev
7329)
@@ -127,7 +127,6 @@
void ModelLaser::Load( void )
{
- Model::Load();
sample_count = wf->ReadInt( wf_entity, "samples", sample_count );
range_min = wf->ReadLength( wf_entity, "range_min", range_min);
range_max = wf->ReadLength( wf_entity, "range_max", range_max );
@@ -142,6 +141,8 @@
PRINT_WARN( "laser resolution set < 1. Forcing to 1" );
resolution = 1;
}
+
+ Model::Load();
}
stg_laser_cfg_t ModelLaser::GetConfig()
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-02-10 19:48:30 UTC (rev 7328)
+++ code/stage/trunk/libstage/stage.hh 2009-02-13 07:10:11 UTC (rev 7329)
@@ -95,6 +95,7 @@
MODEL_TYPE_BLOBFINDER,
MODEL_TYPE_BLINKENLIGHT,
MODEL_TYPE_CAMERA,
+ MODEL_TYPE_GRIPPER,
MODEL_TYPE_COUNT // must be the last entry, to count the number of
// types
} stg_model_type_t;
@@ -1085,6 +1086,23 @@
void DrawSolid(); // draw the block in OpenGL as a solid single color
void DrawFootPrint(); // draw the projection of the block onto the z=0
plane
+ /** Translate all points in the block by the indicated amounts */
+ void Translate( double x, double y );
+
+ /** Return the center of the block on the X axis */
+ double CenterX();
+ /** Return the center of the block on the Y axis */
+ double CenterY();
+
+ /** Set the center of the block on the X axis */
+ void SetCenterX( double y );
+ /** Set the center of the block on the Y axis */
+ void SetCenterY( double y );
+ /** Set the center of the block */
+ void SetCenter( double x, double y);
+
+ void SetZ( double min, double max );
+
void RecordRendering( Cell* cell )
{ g_ptr_array_add( rendered_cells, (gpointer)cell ); };
@@ -1154,11 +1172,12 @@
class BlockGroup
{
friend class Model;
+ friend class Block;
private:
int displaylist;
+
void BuildDisplayList( Model* mod );
-
GList* blocks;
uint32_t count;
Size size;
@@ -1921,9 +1940,9 @@
/** Add a block to this model centered at [x,y] with extent [dx, dy,
dz] */
- void AddBlockRect( stg_meters_t x, stg_meters_t y,
- stg_meters_t dx,
stg_meters_t dy,
- stg_meters_t dz );
+ Block* AddBlockRect( stg_meters_t x, stg_meters_t y,
+ stg_meters_t
dx, stg_meters_t dy,
+ stg_meters_t
dz );
/** remove all blocks from this model, freeing their memory */
void ClearBlocks();
@@ -2277,88 +2296,132 @@
// Set the user-tweakable configuration of the laser
void SetConfig( stg_laser_cfg_t cfg );
};
-
+
// \todo GRIPPER MODEL
--------------------------------------------------------
+
+
+ class ModelGripper : public Model
+ {
+ public:
- // typedef enum {
- // STG_GRIPPER_PADDLE_OPEN = 0, // default state
- // STG_GRIPPER_PADDLE_CLOSED,
- // STG_GRIPPER_PADDLE_OPENING,
- // STG_GRIPPER_PADDLE_CLOSING,
- // } stg_gripper_paddle_state_t;
+ enum paddle_state_t {
+ PADDLE_OPEN = 0, // default state
+ PADDLE_CLOSED,
+ PADDLE_OPENING,
+ PADDLE_CLOSING,
+ };
+
+ enum lift_state_t {
+ LIFT_DOWN = 0, // default state
+ LIFT_UP,
+ LIFT_UPPING, // verbed these to match the paddle state
+ LIFT_DOWNING,
+ };
+
+ enum cmd_t {
+ CMD_NOOP = 0, // default state
+ CMD_OPEN,
+ CMD_CLOSE,
+ CMD_UP,
+ CMD_DOWN
+ };
+
+ /** gripper configuration
+ */
+ struct config_t
+ {
+ Size paddle_size; ///< paddle dimensions
+
+ paddle_state_t paddles;
+ lift_state_t lift;
+
+ double paddle_position; ///< 0.0 = full open, 1.0 full closed
+ double lift_position; ///< 0.0 = full down, 1.0 full up
+
+ stg_meters_t inner_break_beam_inset; ///< distance from the end
of the paddle
+ stg_meters_t outer_break_beam_inset; ///< distance from the end
of the paddle
+ bool paddles_stalled; // true iff some solid object stopped
+ // the paddles closing or opening
+
+ GSList *grip_stack; ///< stack of items gripped
+ int grip_stack_size; ///< maximum number of objects in stack,
or -1 for unlimited
+
+ double close_limit; ///< How far the gripper can close. If <
1.0, the gripper has its mouth full.
+ bool autosnatch; ///< if true, cycle the gripper through
open-close-up-down automatically
+ };
+
+
+ /** gripper data packet
+ */
+ struct data_t
+ {
+ paddle_state_t paddles;
+ lift_state_t lift;
- // typedef enum {
- // STG_GRIPPER_LIFT_DOWN = 0, // default state
- // STG_GRIPPER_LIFT_UP,
- // STG_GRIPPER_LIFT_UPPING, // verbed these to match the paddle state
- // STG_GRIPPER_LIFT_DOWNING,
- // } stg_gripper_lift_state_t;
+ double paddle_position; ///< 0.0 = full open, 1.0 full closed
+ double lift_position; ///< 0.0 = full down, 1.0 full up
- // typedef enum {
- // STG_GRIPPER_CMD_NOP = 0, // default state
- // STG_GRIPPER_CMD_OPEN,
- // STG_GRIPPER_CMD_CLOSE,
- // STG_GRIPPER_CMD_UP,
- // STG_GRIPPER_CMD_DOWN
- // } stg_gripper_cmd_type_t;
+ stg_bool_t inner_break_beam; ///< non-zero iff beam is broken
+ stg_bool_t outer_break_beam; ///< non-zero iff beam is broken
- // /** gripper configuration packet
- // */
- // typedef struct
- // {
- // Size paddle_size; ///< paddle dimensions
+ stg_bool_t paddle_contacts[2]; ///< non-zero iff paddles touch something
- // stg_gripper_paddle_state_t paddles;
- // stg_gripper_lift_state_t lift;
+ stg_bool_t paddles_stalled; // true iff some solid object stopped
+ // the paddles closing or opening
- // double paddle_position; ///< 0.0 = full open, 1.0 full closed
- // double lift_position; ///< 0.0 = full down, 1.0 full up
+ int stack_count; ///< number of objects in stack
- // stg_meters_t inner_break_beam_inset; ///< distance from the end of
the paddle
- // stg_meters_t outer_break_beam_inset; ///< distance from the end of
the paddle
- // stg_bool_t paddles_stalled; // true iff some solid object stopped
- // // the paddles closing or opening
- // GSList *grip_stack; ///< stack of items gripped
- // int grip_stack_size; ///< maximum number of objects in stack, or -1
for unlimited
+ };
- // double close_limit; ///< How far the gripper can close. If < 1.0, the
gripper has its mouth full.
+ private:
+ virtual void Update();
+ virtual void DataVisualize( Camera* cam );
+
+ void FixBlocks();
+ void PositionPaddles();
- // } stg_gripper_config_t;
+ config_t cfg;
+ cmd_t cmd;
+
+ Block* paddle_left;
+ Block* paddle_right;
- // /** gripper command packet
- // */
- // typedef struct
- // {
- // stg_gripper_cmd_type_t cmd;
- // int arg;
- // } stg_gripper_cmd_t;
+ public:
+ static const char* typestr;
+ static const Size size;
+ // constructor
+ ModelGripper( World* world,
+ Model* parent );
+ // destructor
+ virtual ~ModelGripper();
+
+ virtual void Load();
+ virtual void Save();
- // /** gripper data packet
- // */
- // typedef struct
- // {
- // stg_gripper_paddle_state_t paddles;
- // stg_gripper_lift_state_t lift;
+ void SetConfig( config_t & newcfg );
- // double paddle_position; ///< 0.0 = full open, 1.0 full closed
- // double lift_position; ///< 0.0 = full down, 1.0 full up
+ /** Returns the static state of the gripper */
+ config_t GetConfig(){ return cfg; };
- // stg_bool_t inner_break_beam; ///< non-zero iff beam is broken
- // stg_bool_t outer_break_beam; ///< non-zero iff beam is broken
+ /** Returns the dynamic state of the gripper */
+ data_t GetData();
+
+ /** Set the current activity of the gripper. */
+ void SetCommand( cmd_t cmd ) { this->cmd = cmd; }
- // stg_bool_t paddle_contacts[2]; ///< non-zero iff paddles touch
something
+ /** Command the gripper paddles to close. Wrapper for SetCommand(
CMD_CLOSE ). */
+ void CommandClose() { SetCommand( CMD_CLOSE ); }
+ /** Command the gripper paddles to open. Wrapper for SetCommand(
CMD_OPEN ). */
+ void CommandOpen() { SetCommand( CMD_OPEN ); }
+ /** Command the gripper lift to go up. Wrapper for SetCommand( CMD_UP
). */
+ void CommandUp() { SetCommand( CMD_UP ); }
+ /** Command the gripper lift to go down. Wrapper for SetCommand(
CMD_DOWN ). */
+ void CommandDown() { SetCommand( CMD_DOWN ); }
+ };
- // stg_bool_t paddles_stalled; // true iff some solid object stopped
- // // the paddles closing or opening
- // int stack_count; ///< number of objects in stack
-
-
- // } stg_gripper_data_t;
-
-
// \todo BUMPER MODEL
--------------------------------------------------------
// typedef struct
Modified: code/stage/trunk/libstage/typetable.cc
===================================================================
--- code/stage/trunk/libstage/typetable.cc 2009-02-10 19:48:30 UTC (rev
7328)
+++ code/stage/trunk/libstage/typetable.cc 2009-02-13 07:10:11 UTC (rev
7329)
@@ -28,7 +28,10 @@
static Model* CreateModelBlobfinder( World* world, Model* parent )
{ return new ModelBlobfinder( world, parent ); }
+static Model* CreateModelGripper( World* world, Model* parent )
+{ return new ModelGripper( world, parent ); }
+
void Stg::RegisterModels()
{
RegisterModel( MODEL_TYPE_PLAIN, "model", CreateModel );
@@ -39,6 +42,7 @@
RegisterModel( MODEL_TYPE_POSITION, "position", CreateModelPosition );
RegisterModel( MODEL_TYPE_BLOBFINDER, "blobfinder", CreateModelBlobfinder );
RegisterModel( MODEL_TYPE_BLINKENLIGHT, "blinkenlight",
CreateModelBlinkenlight);
+ RegisterModel( MODEL_TYPE_GRIPPER, "gripper", CreateModelGripper);
#if DEBUG // human-readable view of the table
puts( "Stg::Typetable" );
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-02-10 19:48:30 UTC (rev 7328)
+++ code/stage/trunk/worlds/fasr.world 2009-02-13 07:10:11 UTC (rev 7329)
@@ -7,7 +7,7 @@
include "sick.inc"
interval_sim 100 # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in
milliseconds
+interval_real 20 # real-time interval between simulation updates in
milliseconds
paused 1
resolution 0.02
@@ -22,9 +22,9 @@
(
size [ 902.000 856.000 ]
- center [ 6.726 -2.592 ]
- rotate [ 0 0 ]
- scale 116.966
+ center [ 5.355 5.319 ]
+ rotate [ 30.000 26.000 ]
+ scale 126.761
pcam_loc [ 0 -4.000 2.000 ]
pcam_angle [ 70.000 0 ]
@@ -77,26 +77,36 @@
joules 100000
joules_capacity 400000
fiducial_return 0
- charging_bump( fiducial( range 3 pose [ 0 0 -0.100 0 ] ) )
+ # charging_bump( fiducial( range 3 pose [ 0 0 -0.100 0 ] ) )
+
+ gripper( pose [0.25 0 -0.22 0]
+ take_watts 1000.0
+ fiducial( range 3 )
+ # paddles [ "closed" "up" ]
+ obstacle_return 0 # cheating for simplicity
+ autosnatch 0
+ )
)
define charge_station model
(
size [ 0.100 0.300 0.100 ]
- color "purple"
+ color "purple"
+
+ # side blocks to restrict view angle
+ model( color "purple" size [0.100 0.050 0.400] pose [ 0 0.100 0 0 ] )
+ model( color "purple" size [0.100 0.050 0.400] pose [ 0 -0.100 0 0 ] )
- model( color "purple" size [0.100 0.100 0.400] pose [ 0 0.100 0 0 ] )
+ # the charging block
+ model(
+ pose [ 0.010 0 0 0 ]
+ color "yellow"
+ size [ 0.050 0.200 0.150 ]
+ joules -1 # provides infinite energy
+ give_watts 1000
+ fiducial_return 2 # look for this in the fiducial sensor
+ )
- model(
- pose [ 0.010 0 0 0 ]
- color "yellow"
- size [ 0.050 0.100 0.100 ]
- joules -1 # infinite storage
- give_watts 1000
- fiducial_return 2
- )
-
- model( color "purple" size [0.100 0.100 0.400] pose [ 0 -0.100 0 0 ] )
)
charge_station( pose [ 7.803 -1.332 0 34.377 ] )
@@ -104,28 +114,29 @@
charge_station( pose [ 7.931 -3.367 0 0 ] )
charge_station( pose [ 7.931 -4.444 0 0 ] )
-autorob( pose [4.144 6.834 0 -98.076] )
-autorob( pose [7.574 6.269 0 -111.715] )
-autorob( pose [5.615 6.185 0 107.666] )
-autorob( pose [7.028 6.502 0 -128.279] )
-autorob( pose [5.750 4.137 0 -97.047] )
-autorob( pose [4.909 6.097 0 -44.366] )
-autorob( pose [6.898 4.775 0 -117.576] )
-autorob( pose [7.394 5.595 0 129.497] )
-autorob( pose [6.468 6.708 0 170.743] )
-autorob( pose [6.451 4.189 0 -61.453] )
+autorob( pose [4.144 6.834 0 -98.076] joules 300000 )
+autorob( pose [7.574 6.269 0 -111.715] joules 100000 )
+autorob( pose [5.615 6.185 0 107.666] joules 200000 )
+autorob( pose [7.028 6.502 0 -128.279] joules 400000 )
+autorob( pose [5.750 4.137 0 -97.047] joules 100000 )
+autorob( pose [4.909 6.097 0 -44.366] joules 200000 )
+autorob( pose [6.898 4.775 0 -117.576] joules 300000 )
+autorob( pose [7.394 5.595 0 129.497] joules 400000 )
+autorob( pose [6.468 6.708 0 170.743] joules 100000 )
+autorob( pose [6.451 4.189 0 -61.453] joules 200000 )
-autorob( pose [5.246 6.813 0 -61.295] )
-autorob( pose [4.127 5.388 0 -147.713] )
-autorob( pose [5.020 4.213 0 -125.236] )
-autorob( pose [3.286 4.715 0 78.789] )
-autorob( pose [5.440 5.317 0 -26.545] )
-autorob( pose [7.641 6.998 0 163.239] )
-autorob( pose [7.559 4.764 0 -139.066] )
-autorob( pose [5.471 7.446 0 77.301] )
-autorob( pose [7.122 4.175 0 -31.440] )
-autorob( pose [5.944 6.951 0 2.937] )
+autorob( pose [5.246 6.813 0 -61.295] joules 300000 )
+autorob( pose [4.127 5.388 0 -147.713] joules 400000 )
+autorob( pose [5.020 4.213 0 -125.236] joules 100000 )
+autorob( pose [3.286 4.715 0 78.789] joules 200000 )
+autorob( pose [5.440 5.317 0 -26.545] joules 300000 )
+autorob( pose [7.641 6.998 0 163.239] joules 400000 )
+#autorob( pose [7.559 4.764 0 -139.066] )
+#autorob( pose [5.471 7.446 0 77.301] )
+#autorob( pose [7.122 4.175 0 -31.440] )
+#autorob( pose [5.944 6.951 0 2.937] )
+
#autorob( pose [6.800 5.897 0 -103.060] )
#autorob( pose [6.405 5.291 0 -103.060] )
#autorob( pose [5.974 5.725 0 -103.060] )
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Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, CA
-OSBC tackles the biggest issue in open source: Open Sourcing the Enterprise
-Strategies to boost innovation and cut costs with open source participation
-Receive a $600 discount off the registration fee with the source code: SFAD
http://p.sf.net/sfu/XcvMzF8H
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