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OpenSIPS (former OpenSER) is an GPL implementation of a multi-functionality SIP Server that targets to deliver a high-level technical solution (performance, security and quality) to be used in professional SIP server platforms.
IMPORTANT: this is no longer the main hosting for the project. This was moved on GITHUB - https://github.com/OpenSIPS/opensips
KAMAILIO (OpenSER) - robust, secure and scalable Open Source (GPL) SIP (RFC3261) server implementation with large features set (over 90 extension modules). As of May 2009, sourcecode is hosted by GIT repository at http://sip-router.org
sipsak is a command line tool which can send simple requests to a SIP server. It can run additional tests on a SIP server which are usefull for admins and developers of SIP enviroments.
Note: the project is maintained on GitHub https://github.com/nils-ohlmeier/sipsak