**** BEGIN LOGGING AT Wed Aug 28 02:59:58 2013 Aug 28 08:38:39 gm Aug 28 08:38:43 lo vmayoral Aug 28 10:11:16 vmayoral: all ros updates are now in all the feed mirrors Aug 28 10:15:01 koen: great! i'm updating the ROS packages documentation Aug 28 10:15:29 koen: some of the scripts that i created to install ROS changed base-layer.conf to eu.feeds. ... Aug 28 10:15:46 koen: should i leave it that way or should i change it back to feeds. ... Aug 28 10:16:06 the eu.feeds is quite slow Aug 28 10:16:19 goddamn piece of shit poky Aug 28 10:16:31 * koen is going through meta-ros bug reports Aug 28 10:21:24 Is there any sane way of doing multiple timer interrupts in userspace? Aug 28 10:25:58 multiple user spaces? Aug 28 10:27:10 hehe you mean multiple processes? Aug 28 10:30:10 Hmmm... need to control several servos at once.. without polling and switching context Aug 28 10:32:53 hatguy, pwm? Aug 28 10:34:36 panto: yep doable with PWM... thing is Arduino supports servos on pins apart from the PWM ones... using timers Aug 28 10:34:55 in any case, software interrupts should also help us implement the micros and millis functions Aug 28 10:35:30 http://arduino.cc/en/Reference/Millis Aug 28 10:36:04 hatguy, you do know that we have a PRU based PWM setup with more than 20 pwms right? Aug 28 10:37:01 PWM in SW would need to be in the kernel Aug 28 10:37:08 user space timing sucks for that Aug 28 10:37:11 panto: hmm... hadn't thought of that... I also am not very updated about PRU access from userspace... (I had only seen the video) Aug 28 10:37:12 https://plus.google.com/100242854243155306943/posts/UbxDZahNoKv Aug 28 10:37:27 av500, it's just not doable from userspace Aug 28 10:37:51 hatguy, remember, the bone is not an arduino Aug 28 10:38:19 panto: yeah... we are constantly reminded about that... though we do manage to find workarounds most of the time :) Aug 28 10:39:41 panto: where is the PRU overlay available? is it supported in the production images? Aug 28 10:40:20 should be on the next release I think Aug 28 10:40:45 how many servos do you need to control? Aug 28 10:41:38 there is no written requirement, per se, but 20 is pretty good Aug 28 10:43:21 20 is more than that supported by most arduino boards (most support 12) Aug 28 10:45:18 what is your pwm freq & duty cycle? Aug 28 10:45:51 minimum toggle period is 4us for this implementation Aug 28 10:46:16 panto: 10000 and 20000 Aug 28 10:47:08 anujdeshpande, err, explain? 10000/20000 10kHz, 20kHz Aug 28 10:47:11 ? Aug 28 10:48:41 panto: duty_ns 10000 and period_ns 20000 Aug 28 10:48:56 panto: umm... Most servos have a period of 20ms and a pulse width of 1-2 ms Aug 28 10:49:04 easily doable then Aug 28 10:49:11 yeah Aug 28 10:49:20 50 Hz is easy Aug 28 10:49:55 * anujdeshpande was talking something unrelated i guess .. Aug 28 10:50:04 you can use the hardware pwms alongside as well Aug 28 10:50:07 hatguy, anujdeshpande: the flasher at http://downloads.angstrom-distribution.org/demo/beaglebone/ has all the PRU stuff, minus the firmware itself Aug 28 10:50:40 koen: this is the one with python-opencv right ? Aug 28 10:50:42 the bone is just too pin limited when you try to use them though Aug 28 10:51:00 current wise? Aug 28 10:51:36 hatguy: limited as in the number of pins available i guess Aug 28 10:51:45 ahh ok Aug 28 10:51:46 obviously you can't drive directly the servo Aug 28 10:52:04 yeah hehehe Aug 28 10:53:03 arduino can use the servo directly .. can't use the stepper directly. needs a driver Aug 28 10:53:29 * anujdeshpande wonders why we can't use the servo directly .. Aug 28 10:53:31 anujdeshpande: python-cv isn't included by default, but yeah, that's one was built after the fix Aug 28 10:53:49 koen: cool cool. thanks ! Aug 28 10:54:16 anujdeshpande: I'm not sure if the 3.3V is enough for the signal Aug 28 10:54:22 anujdeshpande, you didn't specify how much current your servo needs Aug 28 10:54:28 and even if it is we can't really say how much current it will draw Aug 28 10:54:38 the bone can't supply much Aug 28 10:55:28 ahh .. current Aug 28 10:56:01 I hooked the servo power to the SYS_5V pin and the control pin directly to P9_46 Aug 28 10:56:08 that worked Aug 28 10:56:23 provided your PSU can do 2A or more Aug 28 10:56:24 nice... usb or dc adapter? Aug 28 10:56:29 dc Aug 28 10:56:35 okay.. Aug 28 10:56:52 sys_5v isn't powered when using usb power :) Aug 28 10:57:28 It isn't? Oh.... Aug 28 10:58:29 koen: AC, DC or USB :) Aug 28 10:58:35 av500, ac/dc Aug 28 10:58:40 Aug 28 10:58:45 isn't isn't DC? Aug 28 10:58:52 +11 Aug 28 10:59:50 anujdeshpande: I think our servo problem is likely to solved now.. only worried about micros/millis now Aug 28 11:00:04 gettimeofday() Aug 28 11:00:18 hatguy: get rid of the stupid timer method and use pwms ? Aug 28 11:00:18 * hatguy checks Aug 28 11:00:43 anujdeshpande: yepp... ignore attached() and attach() Aug 28 11:00:44 I would be very very wary of anything that uses user-space gpio toggling in linux Aug 28 11:00:52 fwiw Aug 28 11:02:37 panto: its fine to drive my RGB led :) Aug 28 11:02:49 no it isn't :) Aug 28 11:03:04 what's the most appropriate way ? Aug 28 11:03:12 the flickering will drive you mad eventually Aug 28 11:03:18 kernel, or fake with with PRU or SPI Aug 28 11:03:25 anujdeshpande: did you try gettimeofday() ? Aug 28 11:03:56 anujdeshpande, in order of preferrence, hardware pwm, software pwm with the pru, software pwm with a kernel module, software pwm in userspace Aug 28 11:03:57 hatguy: indeed. tcort had given some links and all. but that failed. i think i blogged about it too Aug 28 11:04:11 * hatguy checks anujdeshpande's blogs Aug 28 11:04:18 damn.. we chose the worst one .. Aug 28 11:05:19 hehe Aug 28 11:09:37 anujdeshpande: Read your blog.... is usleep a good way to check the accuracy of gettimeofday()? Aug 28 11:09:46 how about clock_gettime() ? Aug 28 11:10:21 none of the sleep functions are very accurate Aug 28 11:10:22 have you measured how long a gettimeofday() call takes? Aug 28 11:10:32 I vaguely remember it being quite heavy Aug 28 11:10:42 but that was in the 2004 era on strongarm Aug 28 11:10:59 if you're trying to use it for accurate measurements you're going to have a bad time Aug 28 11:11:54 exactly. i had very weird results when i tried to check the accuracy Aug 28 11:12:25 so don't do that Aug 28 11:12:25 so how do we have accurate time measurement ? Aug 28 11:12:50 gettimeofday() is usually pretty accurate Aug 28 11:13:06 panto: okay. i'll revisit that then Aug 28 11:13:21 but you have to understand that things don't happen instantaneously in a preemptive multitasking OS like linux Aug 28 11:14:05 you have jitter Aug 28 11:14:16 Linux is not a real time OS Aug 28 11:14:42 but even a real time OS wouldn't help you too much with high speed GPIO toggling Aug 28 11:14:51 true... Aug 28 11:15:33 so the problem is twofold Aug 28 11:15:38 you need to be fast Aug 28 11:15:51 you need to be accurate Aug 28 11:16:02 * hatguy remembers a code to do SPI using bitbanging on an AVR chip... not really good Aug 28 11:16:45 panto: yepp Aug 28 11:19:20 out of curiosity ,anyone tried FreeRTOS on the black ? Aug 28 11:19:40 * anujdeshpande saw something on the projects page Aug 28 12:06:12 anyone used androidvncserver for the BBB ? Aug 28 12:06:34 i am always getting connection refused(61). i specify the port when i try to connect Aug 28 12:15:20 av500: any hint? i am doing like here http://processors.wiki.ti.com/index.php/TI-Android-JB-4.2.2-DevKit-4.1.1_UserGuide#Using_VNC_Viewer Aug 28 12:46:53 vvu: sorry, never used VNC on android Aug 28 12:47:04 nevermind got a hub working Aug 28 12:47:05 :D Aug 28 12:47:52 :) Aug 28 12:48:21 same musb babble error with the hub but now it works Aug 28 13:03:24 av500: crap...i can't su on BBB android :( Aug 28 13:56:35 av500: there is something awkward with the android on BBB. the download manager works really slow. Aug 28 13:56:45 and i checked my internet connection for download speed Aug 28 13:59:47 keesj_: had time to test some more ? Aug 28 14:00:39 I might just before 18:00 from home Aug 28 14:01:21 I will to a pull & recompile the apk and test it. Aug 28 14:01:27 i`m now derping around with android on BBB but it`s really slow and no root access from UI, just from serial cable Aug 28 14:01:49 for booting over usb I need to remove the SD-card and keep the S2 button pressed rigth? Aug 28 14:02:20 if you have a blank sdcard inserted it`s fine Aug 28 14:02:31 it needs not to have on it MLO and other u-boot things Aug 28 14:03:10 also check dmesg sometimes android does not enumerate the usb device Aug 28 14:03:14 ok that's also good/doable. last time it looked like my S2 was able to power the BBB directly but this time I might add a power supply :P Aug 28 14:03:54 any idea how can i root the android on BBB ? have su access from UI ? Aug 28 14:04:06 not serial connection... Aug 28 14:09:28 vvu: try editing /etc/securetty http://www.tldp.org/HOWTO/Remote-Serial-Console-HOWTO/misc-securetty.html Aug 28 14:10:09 if android has that (I've never used android, so I don't know how much Google changes the standard Linux stuff). Aug 28 14:10:12 tcort: i want to get something like SuperSU on it Aug 28 14:11:59 http://whiteboard.ping.se/Android/Rooting Edit /default.prop in the root file system and set the property "ro.secure=0" Aug 28 14:12:34 it's easy to find stuff on google when you know the answer already Aug 28 14:14:39 and all apps that are installed have root access ? Aug 28 14:15:26 no certainly not Aug 28 14:15:39 why whould you want that? Aug 28 14:15:54 i want to install a ssh server on my BBB Aug 28 14:16:09 i have only one serial cable and 2 BBBs Aug 28 14:17:05 adb shell not good enough? Aug 28 14:17:15 e.g. adb connect myhost ; adb shell Aug 28 14:17:52 adb push to push files adb install -r mypackage.apk to install things Aug 28 14:18:22 ah true... Aug 28 14:45:05 av500: kernel sees the am335x but from inside java i can`t find it in the usb device list Aug 28 14:45:24 av500: this is the dmesg http://pastebin.com/wLfpMyFs Aug 28 14:47:09 what is that? Aug 28 14:47:11 host side? Aug 28 14:47:21 yep, on the host side Aug 28 14:47:37 i hooked up the 2 BBBs Aug 28 14:47:58 did you try using angstrom as host? Aug 28 14:48:32 why angstrom? the deal was to use Android on one BBB to flash the other Aug 28 14:49:20 yes Aug 28 14:49:25 but like in the past Aug 28 14:49:30 when you tested on PC Aug 28 14:49:31 :) Aug 28 14:49:41 you take something "known good" and go from there Aug 28 14:49:45 but here it has the rndis driver activated in the kernel Aug 28 14:50:03 it enumarates the same way as it does on my nexus devices Aug 28 14:50:08 ok Aug 28 14:51:27 also i`m getting some weird messages in logcat when i run my app http://pastebin.com/wmgeaBAw Aug 28 14:51:49 * vvu sees the word permission there but can`t make sense of the messages Aug 28 14:53:11 neither Aug 28 14:53:44 mhmh Aug 28 14:54:04 i`m doing on the java part Aug 28 14:54:09 UsbManager manager = (UsbManager) getSystemService(Context.USB_SERVICE); Aug 28 14:54:09 HashMap deviceList = manager.getDeviceList(); Aug 28 14:54:09 Iterator deviceIterator = deviceList.values().iterator(); Aug 28 14:54:19 and the iterator has nothing Aug 28 14:59:26 and if you just start with something simple like a usbstick? Aug 28 15:01:05 testing now Aug 28 15:02:25 the problem is deeper...same thingie. does not see it Aug 28 15:10:21 running rowboat? Aug 28 15:11:42 circuitco.com/support/index.php?title=Android Aug 28 15:12:46 and the mouse does work? Aug 28 15:13:05 yep Aug 28 15:13:09 mouse keyboard work Aug 28 15:13:30 so usb host itself .. does kinda work :p Aug 28 15:16:33 now i really do not know what to write in the progress report :) Aug 28 15:16:56 worked on the Androi gui. Aug 28 15:17:31 seems kinda small :( Aug 28 15:17:35 you are experiencing the kinds of stuff that sometimes happens when doing reseach kinda work Aug 28 15:18:02 any idea who should i try to contact from rowboat ? Aug 28 15:18:10 of when doing something you don't really know enough about. it takes years to understand all the part of such a system Aug 28 15:18:31 indeed Aug 28 15:18:49 vvu: rowboat not working 100% is not surprise Aug 28 15:18:53 and what's happenin is that you get stuck in certain ways (e.g usb-host took quite a while) and I think most can understand. Aug 28 15:19:28 av500: so flashing a BBB from another BBB is kinda skipped ? Aug 28 15:19:36 well Aug 28 15:19:47 you give up quickly :) Aug 28 15:19:50 moving to using the BBB is some kind of escape from a problem to end up in a different one. but you don't know before you try Aug 28 15:20:04 so Aug 28 15:20:05 again Aug 28 15:20:19 vvu: what works and what does not with BBB Android Aug 28 15:20:30 mouse and kbd works? Aug 28 15:20:31 so before you know .. you have two problems :P Aug 28 15:21:01 av500: mouse and key work. kernel enumerates the am335x and sees it as a RNDIS device *this thing happens on nexus devices too* Aug 28 15:21:04 vvu: dont you have to patch out RNDIS as well? Aug 28 15:21:19 like on nexus? Aug 28 15:21:21 av500: it`s already patched as i see it Aug 28 15:21:35 you mean no RNDIS in kernel? Aug 28 15:21:49 the BBB Android has RNDIS in kernel Aug 28 15:22:12 but w/o rndis in kernel i should see the device in the usbdevice list from java API Aug 28 15:23:27 yes Aug 28 15:23:33 so? Aug 28 15:24:02 in my case from java API i don`t see any usb device Aug 28 15:32:42 bbl Aug 28 15:33:08 vvu: I'm confused, dont you need to remove RNDIS form rowboat kernel too? Aug 28 15:33:36 av500: not remove, add. but it`s already added Aug 28 15:33:44 ah Aug 28 15:33:49 i searched a bit about the image i`m using. it`s from here https://groups.google.com/forum/#!topic/beagleboard/Yc8CdtU5MEs Aug 28 15:33:56 bbl Aug 28 15:34:03 the kernel is Robert Nelson's 3.8.x kernel source tree. Aug 28 15:34:04 ok Aug 28 15:36:35 why don't you use the official beagle kernel tree? Aug 28 15:37:19 i`m thinking now to change to the official one Aug 28 15:38:04 koen: which toolchain do you use to build the official kernel ? Aug 28 15:43:10 the angstrom one Aug 28 15:53:22 I can't make the meeting...Big Client meeting...bbl Aug 28 15:55:22 kridner is in brazil, right Aug 28 15:55:23 ? Aug 28 15:58:48 koen: yea Aug 28 15:59:15 <_av500_> oh Aug 28 15:59:23 so i am not sure the status of the meeting Aug 28 15:59:30 someone might be taking his place like last time i guess Aug 28 16:00:30 didn't cwicks did it last time he was out? Aug 28 16:00:37 yep Aug 28 16:01:05 hello Aug 28 16:01:07 gm Aug 28 16:01:22 afk for a short while, biab Aug 28 16:01:41 prpplague: in other meetings gerald steps in :) Aug 28 16:02:06 koen: pretty sure gerald doesnt want anything to do with gsoc, hehe Aug 28 16:02:32 morning, gsocers Aug 28 16:03:03 prpplague: I know :) Aug 28 16:03:27 koen: the printer got picked up even though the invoice was missing? Aug 28 16:03:32 morning bradfa ! Aug 28 16:03:56 prpplague: yes, the receipt that was included was enough for them to fabricate an invoice Aug 28 16:04:07 prpplague: since it's an import shipment they could get away with that Aug 28 16:04:46 it pays off to be friendly with the delivery guys :) Aug 28 16:07:00 morning all Aug 28 16:07:06 we have never had a meeting start late .. Aug 28 16:07:12 * anujdeshpande thinks apocalypse .. Aug 28 16:08:45 I bet kridner is visiting a lot of Churrascarias Aug 28 16:08:57 and there's ZubairLK Aug 28 16:09:15 GM Aug 28 16:09:18 sorry i'm late Aug 28 16:09:22 so before I head of to eat, any students have problems, blockers, etc? Aug 28 16:09:32 and if not, everything on schedule Aug 28 16:09:37 Aug 28 16:09:42 i see. Aug 28 16:09:48 hmm. no issue as such Aug 28 16:09:54 waiting for feedback from lists is boring Aug 28 16:10:04 but have received some. have to address and reply Aug 28 16:10:08 will do soon Aug 28 16:10:23 no issues here. everything on or ahead of schedule. Aug 28 16:10:32 for tcort's project I still haven't recieved harddware so I can't test his code Aug 28 16:10:37 same here Aug 28 16:11:42 what about mr prutag? Aug 28 16:11:54 i could say the same, i'm struggling a bit with the ros_controls recipes but that's out of the scope of the GSOC. Already documenting, testing and answering requests Aug 28 16:13:08 'Allo? Aug 28 16:13:43 jj2baile: you got early access to the C compiler? Aug 28 16:13:59 Yeppers Aug 28 16:14:04 Have the build system set up Aug 28 16:14:18 and the custom kernel and stuff built and loaded on the bone Aug 28 16:14:36 jj2baile: does it work as well as the assemble stuff you have so far? Aug 28 16:14:47 For the MINIX related project as tcort has sumitted the code for the weather station mainline we are looking into new areas for him to work on.. we chose pinmux and framebuffer on the BBW/BBB Aug 28 16:14:59 It seems fine so far. Aug 28 16:15:13 I'll be sure to alert people if I find anything strange Aug 28 16:15:34 jj2baile: can you provide more insight as to what is happening in the blog post rather then the 2million mile overview? Aug 28 16:16:07 jj2baile: based on reading just the blogs, I wonder if things will get done by the end of GSoC Aug 28 16:17:06 oh yes. The more detailed post is still incoming. Aug 28 16:19:14 koen: A couple of persons asked me upload an SD image with Angstrom and ROS running. Aug 28 16:19:38 it's too big to push it to github (about 700 MB) Aug 28 16:20:19 i thought about slicing it but that might be troublesome for some users... Aug 28 16:20:30 sf.net? Aug 28 16:20:48 code.google.com? Aug 28 16:20:57 yeap those are some choices Aug 28 16:21:20 i can guess there's no preference right Aug 28 16:21:41 (up until now my dropbox was doing the work) Aug 28 16:21:47 just none of those sites that require javascript to download Aug 28 16:24:19 _av500_: i will be back with more news after i test with the official beagle kernel. until then i`m a bit offline. have a great day everyone ! Aug 28 16:24:34 <_av500_> ok Aug 28 16:24:57 vvu: one moment Aug 28 16:25:01 ok Aug 28 16:25:42 I installed the new package and tried it on my S2. all that happens is that "nothing" is printed in the logs. can you add more debug info? Aug 28 16:26:00 also did anybody test vvu 's work? Aug 28 16:26:31 <_av500_> I'm about to Aug 28 16:26:37 that nothing is from the usb manager because it cannot find the am335x vid/pid combination Aug 28 16:26:58 when I plug the device the app gets started Aug 28 16:27:00 keesj_: dmesg shows that your S2 enumerates the am335x ? Aug 28 16:27:16 ok i will edit now with more info and push Aug 28 16:27:19 give me 5 minutes Aug 28 16:28:38 I just wanted to know about people testing. don't hurry Aug 28 16:30:10 * vvu is thinking that nobody likes android now :( Aug 28 16:30:18 is the meeting part over? Aug 28 16:30:32 nexus 4 price got slashed 100$ btw :D Aug 28 16:30:58 yep, saw that. now i`m thinking of getting one Aug 28 16:31:37 it'll go OOS soon. Aug 28 16:31:46 is the meeting over? Aug 28 16:31:51 vmayoral: I replied to your recipe failures Aug 28 16:31:53 everyone will be thinking of it. although nexus 5 will be around the corner. Aug 28 16:32:05 i dunno what they'll do in nexus 5. the 4 is epic as it is.. Aug 28 16:32:16 vmayoral: let me know if thats helpful or if you need further information Aug 28 16:35:21 khem: thanks i'll work on it and I'll let you know if i run into more problems Aug 28 16:35:57 my phone was extremely hot Aug 28 16:36:31 keesj_: same happens to my devices too Aug 28 16:36:40 dunno why Aug 28 16:36:50 i always power the BBB from a 5v source Aug 28 16:38:11 vmayoral: another suggestion is that recipes/ folder inside beagle-ros is better to be renames to something recipes-* may be recipes-ros Aug 28 16:38:39 it seems like i misplaced my OTG adapter Aug 28 16:41:02 khem: all right Aug 28 16:46:35 vvu: same here (the phone was not longer even plugged to the BBB) weird Aug 28 16:46:57 maybe ds2 can give a hint why is happening Aug 28 16:51:59 here is a dmesg http://pastebin.com/eAtqWGpx Aug 28 16:53:42 it shows the AM335x USB connected and lots of power management related stuff(also enabling and disabling the _usb_mipi: disable LDOs) Aug 28 16:53:52 it will fail, won`t even send MLO to board. you need RNDIS in the kernel. CONFIG_RNDI_HOST_DRIVER Aug 28 16:54:36 I want to see it fail Aug 28 16:54:56 ah Aug 28 16:55:12 it will say MLO started i think..need to rethink a bit the way of checking Aug 28 16:56:44 vmayoral: some recipes are inheriting catkin.bbclass where is that class coming from ? Aug 28 16:57:12 keesj_: also all my images are uSD flashing images, so check the box there because they won`t fit into the eMMC Aug 28 16:57:19 khem it's from the meta-ros code Aug 28 16:57:22 i did not have enough time to make clones of eMMCs Aug 28 16:57:37 khem: https://github.com/bmwcarit/meta-ros Aug 28 16:57:49 https://github.com/bmwcarit/meta-ros/blob/master/classes/catkin.bbclass Aug 28 16:58:20 vmayoral: this should then be mentioned in README of the layer Aug 28 16:58:27 that it has dependency on another layer Aug 28 16:59:44 eg. http://git.openembedded.org/meta-openembedded/tree/meta-networking/README Aug 28 17:01:18 got it Aug 28 17:02:25 vmayoral: and in beagle-ros layer RDEPENDS should be changed to RDEPENDS_${PN} Aug 28 17:02:54 keesj_: updates with more details in the log messages Aug 28 17:03:31 i will make the checking more thoroughly for errors Aug 28 17:03:52 <_av500_> need to go bbl Aug 28 17:04:03 afk Aug 28 17:04:25 thanks guys Aug 28 17:04:28 * khem is afk Aug 28 17:08:10 _av500_: keesj_ i`m offline for a couple of hours, will do more work and keep you updated. keesj_ if you find more bugs send a message to vvu|Log and i`ll see it have a great day! Aug 28 17:19:28 vmayoral: you can half the size by tarring it up, dd'ing /dev/zero, mkfs.ext4 and untarring it again Aug 28 17:19:48 vmayoral: but keep in mind that you're on the hook for the gpl stuff if you put binaries online Aug 28 17:19:52 (it's a massive pain) Aug 28 17:20:24 didn't thought about that... Aug 28 17:20:57 I think your install script covers 90% of the needed bits already Aug 28 17:21:10 I've been thinking of including ROS bits in the new release Aug 28 17:21:17 need to see how much space is left on the emmc Aug 28 17:23:10 that'll be great Aug 28 17:23:40 i'm planning to work a bit more in the ROS wiki http://www.ros.org/wiki/BeagleBoard Aug 28 17:23:47 and refer to the Beagle-ROS project Aug 28 17:24:17 it'll be awesome to provide links to new Angstrom releases ROS-compatible Aug 28 19:00:05 enough for today, have a good day/afternoon/night ;) Aug 28 22:12:46 _av500_: had some time to review my work? **** ENDING LOGGING AT Thu Aug 29 02:59:58 2013