卡诺普机器人控制系统编程手册，卡诺普控制系统是国内百分之40以上的机器人厂家采用，其中包括码垛机器人，焊接机器人，喷涂机器人，协作机器人.

Part 4: Cross-network Redundancy Protocol (CRP) (IEC 62439-4:2010) 英文版 46页 pdf

# CRP Open source C++ Implementation of Customizable Route Planning (CRP) by Delling et al. This project was part of a practical course at Karlsruhe Institute of Technology (KIT). Requirements ============ In order to build CRP you need to have the following software installed: - Boost C++ Library (http://www.boost.org), more specifically Boost Iostreams. - Scons (http://scons.org) - g++ >= 4.8 (https://gcc.gnu.org) Building CRP ============ If the Boost Library is not in your PATH, make sure to edit the *SConstruct* file in the root directory to point the build script to the correct location of Boost. There is a section *Libraries* in the *SConstruct* file where you can specify the paths. Once you have installed all the software packages listed above, you can build the CRP programs by typing ``` scons --target=CRP --optimize=Opt -jX ``` into your terminal where `X` is the number of cores you want to use for building the project. If you want to use a specific g++ compiler version you can add `--compiler=g++-Version`. We also support a debug and profiling build that you can call with `--optimize=Dbg` and `--optimize=Pro` respectively. This command will build three programs in the folder *deploy*: - *osmparser*: Used to parse an OpenStreetMap (OSM) bz2-compressed map file. Call it with `./deploy/osmparser path_to_osm.bz2 path_to_output.graph.bz2` - *precalculation*: Used to build an overlay graph based on a given partition. Call it with `./deploy/precalculation path_to_graph path_to_mlp output_directory`. Here, *path_to_mlp* is the path to a *MultiLevelPartition* file for the graph that you need to provide. For more details, take a look into our project documentation. - *customization*: Used to precompute the metric weights for the overlay graph. Call it with `./deploy/customization path_to_graph path_to_overlay_graph metric_output_directory metric_type`. We currently support the following metric types: *hop* (number of edges traversed), *time* and *dist*.

[ ERROR ] CAM-CRP-1093 Unable to read the contents of the keystore '/cognos/c8_64/configuration/signkeypair/jCAKeystore'. Reason: java.io.IOException: stream does not represent a PKCS12 key formation