Revision: 8579
http://playerstage.svn.sourceforge.net/playerstage/?rev=8579&view=rev
Author: rtv
Date: 2010-03-10 02:11:47 +0000 (Wed, 10 Mar 2010)
Log Message:
-----------
fasr2
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr2.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/model_ranger.cc
code/stage/trunk/libstage/world.cc
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/fasr2.world
Modified: code/stage/trunk/examples/ctrl/fasr2.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr2.cc 2010-03-10 01:50:27 UTC (rev
8578)
+++ code/stage/trunk/examples/ctrl/fasr2.cc 2010-03-10 02:11:47 UTC (rev
8579)
@@ -194,6 +194,8 @@
}
+#include <pthread.h>
+
class Robot
{
private:
@@ -211,6 +213,8 @@
double charger_heading;
nav_mode_t mode;
+ static pthread_mutex_t planner_mutex;
+
Model* goal;
Graph graph;
@@ -341,6 +345,9 @@
//printf( "searching from (%.2f, %.2f) [%d, %d]\n", pose.x, pose.y,
start.x, start.y );
//printf( "searching to (%.2f, %.2f) [%d, %d]\n", sp.x, sp.y,
goal.x, goal.y );
+ // astar() is not reentrant, so we protect it thus
+ pthread_mutex_lock( &planner_mutex );
+
std::vector<point_t> path;
bool result = astar( map_data,
map_width,
@@ -348,7 +355,9 @@
start,
goal,
path );
-
+
+ pthread_mutex_unlock( &planner_mutex );
+
//printf( "#%s:\n", result ? "PATH" : "NOPATH" );
graph.nodes.clear();
@@ -385,8 +394,10 @@
double orient = normalize( M_PI - (charger_bearing -
charger_heading) );
//printf( "val %.2f\n", orient );
- a_goal -= 2.0 * orient;
+ //if( fabs(orient) < M_PI/4.0 )
+ a_goal = normalize( a_goal - 2.0 * orient );
+
// if( pos->Stalled() )
// {
// puts( "stalled. stopping" );
@@ -396,7 +407,7 @@
// a_goal *= 2.0;
- if( charger_range > 0.45 )
+ if( charger_range > 0.6 )
{
if( !ObstacleAvoid() )
{
@@ -428,9 +439,9 @@
if( Full() )
{
//printf( "fully charged, now back to work\n" );
-
+
ranger->Subscribe(); // enable the sonar to see behind us
- fiducial->Unsubscribe();
+ fiducial->Unsubscribe();
mode = MODE_UNDOCK;
}
}
@@ -582,12 +593,12 @@
while( graph.GoodDirection( pose, 4.0, a_goal ) == 0 )
{
- printf( "%s replanning from (%.2f,%.2f) to %s
at (%.2f,%.2f) in Work()\n",
- pos->Token(),
- pose.x, pose.y,
- goal->Token(),
- goal->GetPose().x,
- goal->GetPose().y );
+ //printf( "%s replanning from (%.2f,%.2f) to %s
at (%.2f,%.2f) in Work()\n",
+ // pos->Token(),
+ // pose.x, pose.y,
+ // goal->Token(),
+ // goal->GetPose().x,
+ // goal->GetPose().y );
Plan( goal );
}
@@ -668,10 +679,7 @@
bool Hungry()
{
- // XX
- //return false;
-
- return( pos->FindPowerPack()->ProportionRemaining() < 0.5 );
+ return( pos->FindPowerPack()->ProportionRemaining() < 0.2 );
}
bool Full()
@@ -796,6 +804,8 @@
};
+// STATIC VARS
+pthread_mutex_t Robot::planner_mutex = PTHREAD_MUTEX_INITIALIZER;
unsigned int Robot::map_width( 60 );
unsigned int Robot::map_height( 60 );
uint8_t* Robot::map_data( NULL );
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2010-03-10 01:50:27 UTC (rev
8578)
+++ code/stage/trunk/libstage/model_load.cc 2010-03-10 02:11:47 UTC (rev
8579)
@@ -37,7 +37,7 @@
power_pack->SetStored( j );
power_pack->SetCapacity( j );
}
-
+
if( wf->PropertyExists( wf_entity, "joules_capacity" ) )
{
if( !power_pack )
@@ -46,6 +46,30 @@
power_pack->SetCapacity( wf->ReadFloat( wf_entity,
"joules_capacity",
power_pack->GetCapacity() ) );
}
+
+ if( wf->PropertyExists( wf_entity, "kjoules" ) )
+ {
+ if( !power_pack )
+ power_pack = new PowerPack( this );
+
+ stg_joules_t j = 1000.0 * wf->ReadFloat( wf_entity, "kjoules",
+
power_pack->GetStored() ) ;
+
+ /* assume that the store is full, so the capacity is the same as
+ the charge */
+ power_pack->SetStored( j );
+ power_pack->SetCapacity( j );
+ }
+
+ if( wf->PropertyExists( wf_entity, "kjoules_capacity" ) )
+ {
+ if( !power_pack )
+ power_pack = new PowerPack( this );
+
+ power_pack->SetCapacity( 1000.0 * wf->ReadFloat( wf_entity,
"kjoules_capacity",
+
power_pack->GetCapacity() ) );
+ }
+
watts = wf->ReadFloat( wf_entity, "watts", watts );
watts_give = wf->ReadFloat( wf_entity, "give_watts", watts_give );
Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc 2010-03-10 01:50:27 UTC (rev
8578)
+++ code/stage/trunk/libstage/model_ranger.cc 2010-03-10 02:11:47 UTC (rev
8579)
@@ -257,26 +257,23 @@
void ModelRanger::Update( void )
{
// raytrace new range data for all sensors
- printf( "Stage: " );
- FOR_EACH( it, sensors )
+ FOR_EACH( it, sensors )
{
- Sensor& s = *it;
-
+ Sensor& s = *it;
+
// TODO - reinstate multi-ray rangers
//for( int r=0; r<sensors[t].ray_count; r++ )
//{
- stg_raytrace_result_t ray = Raytrace( s.pose,
-
s.bounds_range.max,
-
ranger_match,
-
NULL );
-
+
+ stg_raytrace_result_t ray = Raytrace( s.pose,
+
s.bounds_range.max,
+
ranger_match,
+
NULL );
+
s.range = std::max( ray.range, s.bounds_range.min );
-
- //printf( " %.3f (%.3f) ", s.range, s.pose.a );
}
- puts("");
-
- Model::Update();
+
+ Model::Update();
}
void ModelRanger::Print( char* prefix )
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2010-03-10 01:50:27 UTC (rev 8578)
+++ code/stage/trunk/libstage/world.cc 2010-03-10 02:11:47 UTC (rev 8579)
@@ -200,10 +200,14 @@
World* world = thread_info->first;
int thread_instance = thread_info->second;
+ //printf( "thread ID %d waiting for mutex\n", thread_instance );
+
pthread_mutex_lock( &world->thread_mutex );
while( 1 )
{
+ //printf( "thread ID %d waiting for start\n", thread_instance );
+
// wait until the main thread signals us
//puts( "worker waiting for start signal" );
@@ -215,6 +219,8 @@
// consume events on the queue up to the current sim time
world->ConsumeQueue( thread_instance );
+ //printf( "thread %d done\n", thread_instance );
+
// done working, so increment the counter. If this was the last
// thread to finish working, signal the main thread, which is
// blocked waiting for this to happen
@@ -362,12 +368,20 @@
PRINT_WARN( "\nmulti-thread support is experimental and may not work
properly, if at all." );
event_queues.resize( worker_threads + 1 );
-
+
+ //printf( "worker threads %d\n", worker_threads );
+
+ // need data for each thread
+ // XX BUG! this shouldn't be a local var!
+
// kick off the threads
for( unsigned int t=0; t<worker_threads; t++ )
{
- std::pair<World*,int> info( this, t+1 );
-
+ // a little configuration for each thread
+ std::pair<World*,int>* infop = new
std::pair<World*,int>( this, t+1 );
+
+ //printf( "starting thread %d with ID %d \n", (int)t,
info[t].second );
+
//normal posix pthread C function pointer
typedef void* (*func_ptr) (void*);
@@ -375,7 +389,7 @@
pthread_create( &pt,
NULL,
(func_ptr)World::update_thread_entry,
- &info );
+ infop );
}
printf( "[threads %u]", worker_threads );
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2010-03-10 01:50:27 UTC (rev 8578)
+++ code/stage/trunk/worlds/fasr.world 2010-03-10 02:11:47 UTC (rev 8579)
@@ -16,7 +16,7 @@
resolution 0.02
-threads 0
+threads 2
# configure the GUI window
window
Modified: code/stage/trunk/worlds/fasr2.world
===================================================================
--- code/stage/trunk/worlds/fasr2.world 2010-03-10 01:50:27 UTC (rev 8578)
+++ code/stage/trunk/worlds/fasr2.world 2010-03-10 02:11:47 UTC (rev 8579)
@@ -7,7 +7,7 @@
include "map.inc"
include "sick.inc"
-speedup 10.000
+speedup -1.000 # 10.000
paused 1
# time at which to pause (in GUI mode) or quit (in headless mode) the
simulation
@@ -16,16 +16,16 @@
resolution 0.02
-threads 0
+threads 8
# configure the GUI window
window
(
- size [ 758.000 809.000 ]
+ size [ 1226.000 1080.000 ]
- center [ -9.226 10.939 ]
+ center [ -41.006 -43.393 ]
rotate [ 0 0 ]
- scale 27.308
+ scale 53.216
show_data 1
show_flags 1
@@ -121,48 +121,27 @@
(
pose [0.240 0 -0.100 0 ]
size [0.120 0.050 0.100]
- take_watts 2000.0
+ take_watts 24000.0
color "orange"
obstacle_return 0
)
define charge_station model
(
- size [ 0.100 0.300 0.300 ]
+ size [ 0.100 0.100 0.300 ]
color "purple"
laser_return 0
obstacle_return 0
+ fiducial_return 2 # look for this in the fiducial sensor
# side blocks to restrict view angle
#model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
#model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
- # the charging block
- #model(
- # pose [ 0.010 0 0 0 ]
- #color "yellow"
- #size [ 0.050 0.150 0.100 ]
- joules -1 # provides infinite energy
- give_watts 8000 # high!
- fiducial_return 2 # look for this in the fiducial sensor
-
- alwayson 1 # so we give charge without any explicit subscriber
-
- # laser_return 0
- #obstacle_return 0
- #)
-
- # the set-up target
- #model(
- # pose [0.500 0 0 0 ]
- # color "green"
- # size [0.100 0.100 0.015]
- # fiducial_return 2
- # obstacle_return 0
- #)
-
+ kjoules -1 # provides infinite energy
+ give_watts 80000 # high!
+ alwayson 1 # so we give charge without any explicit subscriber
)
@@ -232,7 +211,7 @@
zone( color "orange"
pose [ -43.000 -43.000 0 0 ]
name "fuel_zone"
- size [ 14.000 14.000 0.010 ]
+ size [ 1.000 1.000 0.010 ]
gui_move 0
)
@@ -262,12 +241,12 @@
define autorob pioneer2dx
(
- sicklaser( samples 32 range_max 4 laser_return 2 watts 30 )
+ sicklaser( samples 32 range_max 2 laser_return 2 watts 30 )
# ctrl "fasr2"
- joules 100000
- joules_capacity 400000
+ kjoules 100
+ kjoules_capacity 400
fiducial_return 0
- charging_bump( obstacle_return 0 fiducial( ignore_zloc 0 range_max_id 9
range_max 9 fov 180 pose [ 0 0 -0.050 0 ] ) )
+ charging_bump( obstacle_return 0 fiducial( range_max_id 9 range_max 9 fov 180
pose [ 0 0 -0.050 0 ] ) )
# small speed optimization
# trail_length 0
@@ -280,205 +259,202 @@
define yellowbot autorob( color "yellow" ctrl "fasr2 yellow" )
define magentabot autorob( color "magenta" ctrl "fasr2 magenta" )
-#define bot autorob( ctrl "fasr2 " )"
-#define bot autorob( ctrl "fasr2 " )"
-#define bot autorob( ctrl "fasr2 " )"
-redbot( pose [-11.388 12.267 0 166.581] joules 200000 )
-redbot( pose [-12.208 11.744 0 135.003] joules 200000 )
-redbot( pose [-12.289 10.814 0 147.497] joules 200000 )
-redbot( pose [-10.642 11.563 0 123.708] joules 200000 )
-redbot( pose [-11.378 11.274 0 143.281] joules 200000 )
-redbot( pose [-10.200 11.012 0 46.529] joules 200000 )
-redbot( pose [-13.067 13.575 0 168.778] joules 200000 )
-redbot( pose [-12.466 13.333 0 163.730] joules 200000 )
-redbot( pose [-13.740 12.740 0 157.546] joules 200000 )
-redbot( pose [-14.708 12.643 0 138.616] joules 200000 )
+redbot( pose [-11.388 12.267 0 166.581] kjoules 200 )
+redbot( pose [-12.208 11.744 0 135.003] kjoules 200 )
+redbot( pose [-12.289 10.814 0 147.497] kjoules 200 )
+redbot( pose [-10.642 11.563 0 123.708] kjoules 200 )
+redbot( pose [-11.378 11.274 0 143.281] kjoules 200 )
+redbot( pose [-10.200 11.012 0 46.529] kjoules 200 )
+redbot( pose [-13.006 13.061 0 168.778] kjoules 200 )
+redbot( pose [-12.466 13.333 0 163.730] kjoules 200 )
+redbot( pose [-13.740 12.740 0 157.546] kjoules 200 )
+redbot( pose [-15.434 11.856 0 138.616] kjoules 200 )
-redbot( pose [-12.841 10.666 0 125.831] joules 100000 )
-redbot( pose [-12.710 12.157 0 125.831] joules 100000 )
-redbot( pose [-12.275 12.775 0 125.831] joules 100000 )
-redbot( pose [-11.461 13.123 0 125.831] joules 100000 )
-redbot( pose [-10.679 13.036 0 125.831] joules 100000 )
-redbot( pose [-12.277 14.027 0 125.831] joules 100000 )
-redbot( pose [-13.981 13.377 0 125.831] joules 100000 )
-redbot( pose [-13.372 12.243 0 125.831] joules 100000 )
-redbot( pose [-13.296 11.331 0 125.831] joules 100000 )
-redbot( pose [-13.944 11.986 0 125.831] joules 100000 )
+redbot( pose [-12.841 10.666 0 125.831] kjoules 400 )
+redbot( pose [-12.710 12.157 0 125.831] kjoules 400 )
+redbot( pose [-12.214 12.593 0 125.831] kjoules 400 )
+redbot( pose [-11.461 13.123 0 125.831] kjoules 400 )
+redbot( pose [-10.679 13.036 0 125.831] kjoules 400 )
+redbot( pose [-12.277 14.027 0 125.831] kjoules 400 )
+redbot( pose [-13.981 13.377 0 125.831] kjoules 400 )
+redbot( pose [-13.372 12.243 0 125.831] kjoules 400 )
+redbot( pose [-13.296 11.331 0 125.831] kjoules 400 )
+redbot( pose [-13.944 11.986 0 125.831] kjoules 400 )
-#redbot( pose [-14.005 12.947 0 125.831] joules 100000 )
-#redbot( pose [-12.922 13.866 0 125.831] joules 100000 )
-#redbot( pose [-13.698 13.866 0 125.831] joules 100000 )
-#redbot( pose [-14.536 12.558 0 125.831] joules 100000 )
-#redbot( pose [-14.577 11.782 0 125.831] joules 100000 )
-#redbot( pose [-13.984 11.210 0 125.831] joules 100000 )
-#redbot( pose [-13.392 10.618 0 125.831] joules 100000 )
-#redbot( pose [-14.883 13.355 0 125.831] joules 100000 )
-#redbot( pose [-15.231 12.681 0 125.831] joules 100000 )
-#redbot( pose [-10.920 11.394 0 125.831] joules 100000 )
+#redbot( pose [-14.580 14.279 0 125.831] kjoules 400 )
+#redbot( pose [-12.922 13.866 0 125.831] kjoules 400 )
+#redbot( pose [-13.698 13.866 0 125.831] kjoules 400 )
+#redbot( pose [-14.536 12.558 0 125.831] kjoules 400 )
+#redbot( pose [-14.577 11.782 0 125.831] kjoules 400 )
+#redbot( pose [-13.984 11.210 0 125.831] kjoules 400 )
+#redbot( pose [-13.392 10.618 0 125.831] kjoules 400 )
+#redbot( pose [-14.883 13.355 0 125.831] kjoules 400 )
+#redbot( pose [-15.231 12.681 0 125.831] kjoules 400 )
+#redbot( pose [-11.102 10.456 0 125.831] kjoules 400 )
-bluebot( pose [-13.004 6.811 0 166.511] joules 200000 )
-bluebot( pose [-13.272 8.255 0 175.835] joules 200000 )
-bluebot( pose [-12.180 6.527 0 -132.938] joules 200000 )
-bluebot( pose [-9.958 7.989 0 171.172] joules 200000 )
-bluebot( pose [-12.369 9.016 0 170.270] joules 200000 )
-bluebot( pose [-10.945 8.132 0 -157.026] joules 200000 )
-bluebot( pose [-11.453 8.651 0 -120.696] joules 200000 )
-bluebot( pose [-13.876 8.850 0 -177.508] joules 200000 )
-bluebot( pose [-11.753 5.510 0 -139.502] joules 200000 )
-bluebot( pose [-10.242 8.631 0 160.986] joules 200000 )
+bluebot( pose [-13.004 6.811 0 166.511] kjoules 200 )
+bluebot( pose [-13.272 8.255 0 175.835] kjoules 200 )
+bluebot( pose [-12.180 6.527 0 -132.938] kjoules 200 )
+bluebot( pose [-9.625 8.080 0 171.172] kjoules 200 )
+bluebot( pose [-12.844 9.141 0 170.270] kjoules 200 )
+bluebot( pose [-11.369 8.011 0 -157.026] kjoules 200 )
+bluebot( pose [-11.453 8.651 0 -120.696] kjoules 200 )
+bluebot( pose [-13.876 8.850 0 -177.508] kjoules 200 )
+bluebot( pose [-11.753 5.510 0 -139.502] kjoules 200 )
+bluebot( pose [-10.121 8.843 0 160.986] kjoules 200 )
-bluebot( pose [-10.901 7.503 0 174.453] joules 200000 )
-bluebot( pose [-12.063 7.960 0 174.453] joules 200000 )
-bluebot( pose [-12.159 8.673 0 174.453] joules 200000 )
-bluebot( pose [-12.039 7.399 0 174.453] joules 200000 )
-bluebot( pose [-11.455 6.855 0 174.453] joules 200000 )
-bluebot( pose [-11.574 6.213 0 174.453] joules 200000 )
-bluebot( pose [-10.725 6.173 0 174.453] joules 200000 )
-bluebot( pose [-10.019 5.829 0 174.453] joules 200000 )
-bluebot( pose [-12.824 7.756 0 174.453] joules 200000 )
-bluebot( pose [-9.930 7.369 0 174.453] joules 200000 )
+bluebot( pose [-10.901 7.503 0 174.453] kjoules 200 )
+bluebot( pose [-12.063 7.960 0 174.453] kjoules 200 )
+bluebot( pose [-12.159 8.673 0 174.453] kjoules 200 )
+bluebot( pose [-12.039 7.399 0 174.453] kjoules 200 )
+bluebot( pose [-11.455 6.855 0 174.453] kjoules 200 )
+bluebot( pose [-11.574 6.213 0 174.453] kjoules 200 )
+bluebot( pose [-10.725 6.173 0 174.453] kjoules 200 )
+bluebot( pose [-10.019 5.829 0 174.453] kjoules 200 )
+bluebot( pose [-9.828 6.667 0 174.453] kjoules 200 )
+bluebot( pose [-9.930 7.369 0 174.453] kjoules 200 )
-#bluebot( pose [-10.706 8.428 0 174.453] joules 200000 )
-#bluebot( pose [-12.069 9.308 0 174.453] joules 200000 )
-#bluebot( pose [-12.719 7.662 0 174.453] joules 200000 )
-#bluebot( pose [-12.771 7.054 0 174.453] joules 200000 )
-#bluebot( pose [-12.834 8.847 0 174.453] joules 200000 )
-#bluebot( pose [-12.708 6.341 0 174.453] joules 200000 )
-#bluebot( pose [-12.163 5.901 0 174.453] joules 200000 )
-#bluebot( pose [-11.408 5.555 0 174.453] joules 200000 )
-#bluebot( pose [-10.727 5.576 0 174.453] joules 200000 )
-#bluebot( pose [-10.286 7.945 0 174.453] joules 200000 )
+#bluebot( pose [-10.706 8.428 0 174.453] kjoules 200 )
+#bluebot( pose [-12.069 9.308 0 174.453] kjoules 200 )
+#bluebot( pose [-12.719 7.662 0 174.453] kjoules 200 )
+#bluebot( pose [-13.739 7.599 0 174.453] kjoules 200 )
+#bluebot( pose [-10.988 9.361 0 174.453] kjoules 200 )
+#bluebot( pose [-12.708 6.341 0 174.453] kjoules 200 )
+#bluebot( pose [-12.163 5.901 0 174.453] kjoules 200 )
+#bluebot( pose [-10.500 6.917 0 174.453] kjoules 200 )
+#bluebot( pose [-10.727 5.576 0 174.453] kjoules 200 )
+#bluebot( pose [-10.286 7.945 0 174.453] kjoules 200 )
-cyanbot( pose [-1.975 18.008 0 67.057] joules 400000 )
-cyanbot( pose [-0.577 17.752 0 28.480] joules 400000 )
-cyanbot( pose [0.185 18.933 0 64.025] joules 400000 )
-cyanbot( pose [-4.470 20.502 0 5.703] joules 400000 )
-cyanbot( pose [-3.229 21.138 0 5.731] joules 400000 )
-cyanbot( pose [0.290 17.823 0 24.200] joules 400000 )
-cyanbot( pose [-1.945 19.158 0 54.480] joules 400000 )
-cyanbot( pose [-3.733 17.894 0 54.588] joules 400000 )
-cyanbot( pose [-3.232 17.616 0 52.768] joules 400000 )
-cyanbot( pose [-2.570 20.624 0 20.367] joules 400000 )
+cyanbot( pose [-1.975 18.008 0 67.057] kjoules 400 )
+cyanbot( pose [-0.577 17.752 0 28.480] kjoules 400 )
+cyanbot( pose [0.185 18.933 0 64.025] kjoules 400 )
+cyanbot( pose [-4.470 20.502 0 5.703] kjoules 400 )
+cyanbot( pose [-3.229 21.138 0 5.731] kjoules 400 )
+cyanbot( pose [0.290 17.823 0 24.200] kjoules 400 )
+cyanbot( pose [-1.945 19.158 0 54.480] kjoules 400 )
+cyanbot( pose [-3.733 17.894 0 54.588] kjoules 400 )
+cyanbot( pose [-3.232 17.616 0 52.768] kjoules 400 )
+cyanbot( pose [-2.570 20.624 0 20.367] kjoules 400 )
-cyanbot( pose [-3.635 20.622 0 -117.456] joules 400000 )
-cyanbot( pose [-5.346 20.649 0 -117.456] joules 400000 )
-cyanbot( pose [-4.518 21.397 0 -117.456] joules 400000 )
-cyanbot( pose [-3.796 21.611 0 -117.456] joules 400000 )
-cyanbot( pose [-3.074 19.927 0 -117.456] joules 400000 )
-cyanbot( pose [-2.610 21.900 0 -117.456] joules 400000 )
-cyanbot( pose [-1.703 20.756 0 -117.456] joules 400000 )
-cyanbot( pose [-1.898 19.927 0 -117.456] joules 400000 )
-cyanbot( pose [-1.371 19.088 0 -117.456] joules 400000 )
-cyanbot( pose [-5.320 17.681 0 -117.456] joules 400000 )
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This was sent by the SourceForge.net collaborative development platform, the
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