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Commit 1ae60358 由 LN
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增加agv对接

1 个父辈 9ace62a8
内嵌 并排
正在显示 5 个修改的文件 包含 101 行增加 和 141 行删除
RC1266-AutoCountMachine/source/DeviceLibrary/agvClient/AgvClient.cs
...@@ -35,7 +35,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -35,7 +35,6 @@ namespace OnlineStore.DeviceLibrary
actionMap = new Dictionary<string, Asa.ClientAction>(); actionMap = new Dictionary<string, Asa.ClientAction>();
LogUtil.info(" 开始 agvClient.Connect"); LogUtil.info(" 开始 agvClient.Connect");
//}
agvClient.Connect(); agvClient.Connect();
foreach (string str in NodeList) foreach (string str in NodeList)
{ {
...@@ -81,12 +80,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -81,12 +80,11 @@ namespace OnlineStore.DeviceLibrary
agvClient.SetStatus(id,mark, shelfId, action, level); agvClient.SetStatus(id,mark, shelfId, action, level);
UpdateAction(id, action); UpdateAction(id, action);
} }
private static void AgvClient_CloseDoor(string id, string rfid)
{
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] ");
}
private static void AgvClient_Ready(string id, string rfid) private static void AgvClient_Ready(string id, string rfid)
{ {
try
{
UpdateAction(id, ClientAction.Ready); UpdateAction(id, ClientAction.Ready);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid + "] "); LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid + "] ");
...@@ -97,7 +95,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -97,7 +95,8 @@ namespace OnlineStore.DeviceLibrary
else if (RobotManager.robot.inputEquip.Config.RightAgvName.Equals(id)) else if (RobotManager.robot.inputEquip.Config.RightAgvName.Equals(id))
{ {
RobotManager.robot.inputEquip.LeftBatchMove.AgvReady(id, rfid); RobotManager.robot.inputEquip.LeftBatchMove.AgvReady(id, rfid);
}else if (RobotManager.robot.outputEquip.Config.AgvInName.Equals(id)|| RobotManager.robot.outputEquip.Config.AgvOutName.Equals(id)) }
else if (RobotManager.robot.outputEquip.Config.AgvInName.Equals(id) || RobotManager.robot.outputEquip.Config.AgvOutName.Equals(id))
{ {
RobotManager.robot.outputEquip.AgvReady(id, rfid); RobotManager.robot.outputEquip.AgvReady(id, rfid);
} }
...@@ -106,24 +105,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -106,24 +105,19 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error("收到 AgvClient_Arrive [" + id + "] [" + rfid + "] 未找到对应的设备 ，暂不处理"); LogUtil.error("收到 AgvClient_Arrive [" + id + "] [" + rfid + "] 未找到对应的设备 ，暂不处理");
} }
} }
catch (Exception ex)
private static void AgvClient_Arrive(string id, string rfid)
{
UpdateAction(id, ClientAction.Arrive);
// RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + rfid + "] ");
if (RobotManager.robot.inputEquip.Config.LeftAgvName.Equals(id))
{ {
RobotManager.robot.inputEquip.LeftBatchMove.AgvArrive(id, rfid); LogUtil.error("AgvClient_Ready [" + id + "] [" + rfid + "] 处理出错：" + ex.ToString());
} }
else if (RobotManager.robot.inputEquip.Config.RightAgvName.Equals(id))
{
RobotManager.robot.inputEquip.RightBatchMove.AgvArrive(id, rfid);
} }
else private static void AgvClient_CloseDoor(string id, string rfid)
{ {
LogUtil.error("收到 AgvClient_Arrive [" + id + "] [" + rfid + "] 未找到对应的设备 ，暂不处理"); LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] 暂无需处理 ");
} }
private static void AgvClient_Arrive(string id, string rfid)
{
// UpdateAction(id, ClientAction.Arrive);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + rfid + "]暂无需处理 ");
} }
internal static bool ISConnected() internal static bool ISConnected()
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/BatchMoveBean_Partial.cs
...@@ -186,7 +186,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -186,7 +186,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.IB12_BatchAxisToP3); MoveInfo.NextMoveStep(StepEnum.IB12_BatchAxisToP3);
WorkLog("料串入料 ：料盘已拿走，批量轴到P3,测盘高 "); WorkLog("料串入料 ：料盘已拿走，批量轴到P3,测盘高 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
BatchAxisToP3(false); BatchAxisToP3( );
} }
else if (MoveInfo.IsStep(StepEnum.IB12_BatchAxisToP3)) else if (MoveInfo.IsStep(StepEnum.IB12_BatchAxisToP3))
{ {
...@@ -360,7 +360,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -360,7 +360,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove); MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove);
WorkLog("料串入料 ：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘"); WorkLog("料串入料 ：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘");
MoveInfo.ShelfNoTray = false; MoveInfo.ShelfNoTray = false;
BatchAxisToP3(false); BatchAxisToP3( );
return; return;
} }
} }
...@@ -377,23 +377,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -377,23 +377,11 @@ namespace OnlineStore.DeviceLibrary
BatchAxis.SuddenStop(true); BatchAxis.SuddenStop(true);
BatchAxis.AbsMove(MoveInfo, BatchAxisP1, Robot.Config.BatchAxis_P1Speed); BatchAxis.AbsMove(MoveInfo, BatchAxisP1, Robot.Config.BatchAxis_P1Speed);
} }
private void BatchAxisToP3(bool isFirstMove = true) private void BatchAxisToP3( )
{ {
int targetP3 = BatchAxisP3; int targetP3 = BatchAxisP3;
int targetSpeed = Robot.Config.BatchAxis_P3Speed; int targetSpeed = Robot.Config.BatchAxis_P3Speed;
//if (!isFirstMove)
//{
// int currPosition = BatchAxis.GetAclPosition();
// if (currPosition != -1)
// {
// targetP3 = currPosition + Robot.Config.Height_ChangeValue * 80;
// if (targetP3 > BatchAxisP3)
// {
// targetP3 = BatchAxisP3;
// }
// LogUtil.info(Name + " BatchAxisToP3 目标P3: " + targetP3 + "(" + currPosition + ")");
// }
//}
MoveInfo.TimeOutSeconds = 200; MoveInfo.TimeOutSeconds = 200;
MoveInfo.CanWhileCount = 0; MoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服 // 需要增加定时器，获取验证信号并停止伺服
...@@ -464,16 +452,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -464,16 +452,27 @@ namespace OnlineStore.DeviceLibrary
#region AGV 处理 #region AGV 处理
private bool ProcessShelfOut = false; private bool ProcessShelfOut = false;
private bool ProcessShelfEnter = false; private bool ProcessShelfEnter = false;
internal void ShelfEnterProcess() internal void AgvReady(string nodeId, string rfid)
{
if (string.IsNullOrEmpty(rfid))
{
ShelfOutProcess(nodeId, rfid);
}
else
{
ShelfEnterProcess(nodeId, rfid);
}
}
internal void ShelfEnterProcess(string nodeId, string rfid)
{ {
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
string logName = Name + "料串 [AGV->" + AgvName + "] "; string logName = Name + "料串 "+rfid+" [AGV->" + AgvName + "] ";
try try
{ {
if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.LOW) && Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.LOW)) if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.LOW) && Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.LOW))
{ {
LogUtil.info(logName + " 开始"); LogUtil.info(logName + " 开始转动线体");
ProcessShelfEnter = true; ProcessShelfEnter = true;
LineRun(); LineRun();
...@@ -517,6 +516,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -517,6 +516,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
//入口有料串，暂不处理 //入口有料串，暂不处理
LogUtil.error(logName + "，入口已有料架，暂不处理");
} }
} }
catch (TimeoutException te) catch (TimeoutException te)
...@@ -529,39 +529,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -529,39 +529,19 @@ namespace OnlineStore.DeviceLibrary
} }
finally finally
{ {
LineStop();
ProcessShelfEnter = false; ProcessShelfEnter = false;
} }
}); });
} }
internal void AgvReady(string nodeId, string rfid)
{
string logN = Name + "收到 AgvReady 事件 [" + nodeId + "] [" + rfid + "] ";
if (string.IsNullOrEmpty(rfid))
{
ShelfOutProcess();
}
else
{
ShelfEnterProcess();
}
}
internal void AgvArrive(string id, string rfid)
{
string logN = Name + "收到 AgvArrive 事件 [" + id + "] [" + rfid + "] ";
}
internal void ShelfOutProcess() internal void ShelfOutProcess(string nodeId, string rfid)
{ {
//AGV已到达，将料串送入AGV中 //AGV已到达，将料串送入AGV中
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
string logName = Name + "[" + AgvName + "->AGV ] "; string logName = Name + "料串"+rfid+"[" + AgvName + "->AGV ] ";
try try
{ {
LogUtil.info(logName + "开始，先设置状态为None");
AgvClient.SetStatus(AgvName, CurrShelfId, ClientAction.None, ClientLevel.High, true); AgvClient.SetStatus(AgvName, CurrShelfId, ClientAction.None, ClientLevel.High, true);
if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.HIGH) || Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.HIGH)) if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.HIGH) || Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
{ {
...@@ -586,11 +566,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -586,11 +566,11 @@ namespace OnlineStore.DeviceLibrary
AgvClient.SetStatus(AgvName, "", ClientAction.None, ClientLevel.High, true); AgvClient.SetStatus(AgvName, "", ClientAction.None, ClientLevel.High, true);
}); });
ProcessShelfOut = false; ProcessShelfOut = false;
LogUtil.info(logName + ",停止转动，清空料串[" + CurrShelfId + "]， 结束"); LogUtil.info(logName + "结束,停止转动，清空料串[" + CurrShelfId + "] ");
} }
else else
{ {
LogUtil.info(logName + "开始，未检测到料串信号，不处理"); LogUtil.info(logName + " 未检测到料架，暂不处理");
} }
} }
catch (TimeoutException te) catch (TimeoutException te)
...@@ -608,9 +588,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -608,9 +588,8 @@ namespace OnlineStore.DeviceLibrary
} }
}); });
} }
#endregion
#endregion
protected void WorkLog(string msg) protected void WorkLog(string msg)
{ {
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Shelf.cs
...@@ -387,74 +387,67 @@ namespace OnlineStore.DeviceLibrary ...@@ -387,74 +387,67 @@ namespace OnlineStore.DeviceLibrary
internal void AgvReady(string id, string rfid) internal void AgvReady(string id, string rfid)
{ {
string logN = Name + " AgvClient_Ready [" + id + "] [" + rfid + "] ";
if (id.Equals(Config.AgvInName)) if (id.Equals(Config.AgvInName))
{ {
if (IOValue(IO_Type.O_ELine_InCheck).Equals(IO_VALUE.HIGH)) ShelfEnterProcess(id,rfid);
{
LogUtil.info(logN + " ，空料串入口有料串，暂不处理");
}
ShelfEnterProcess();
} }
else if (id.Equals(Config.AgvOutName)) else if (id.Equals(Config.AgvOutName))
{ {
if (IOValue(IO_Type.O_WLine_OutCheck).Equals(IO_VALUE.LOW)) ShelfOutProcess(id, rfid);
{
LogUtil.info(logN + " ，出口无料串，暂不处理");
} }
ShelfOutProcess();
} }
}
private bool ProcessShelfEnter = false; private bool ProcessShelfEnter = false;
private bool ProcessShelfOut = false; private bool ProcessShelfOut = false;
internal void ShelfOutProcess() internal void ShelfEnterProcess(string id, string rfid)
{ {
//AGV已到达，将料串送入AGV中 string logName = Name + "料串" + rfid + " [AGV ->" + Config.AgvInName + " ] ";
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
string logName = Name + "料串 [" + Config.AgvOutName + "->AGV ] ";
try try
{ {
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true); if (IOValue(IO_Type.O_ELine_InCheck).Equals(IO_VALUE.LOW))
if (IOValue(IO_Type.O_WLine_OutCheck).Equals(IO_VALUE.HIGH))
{ {
LogUtil.info(logName + " 出口阻挡下降，转动线体"); ProcessShelfEnter = true;
ProcessShelfOut = true; LogUtil.info(logName + " 阻挡上升，转动链条");
//出口阻挡下降，出口线体转动 //AgvClient.SetStatus(Config.AgvInName,"",ClientAction.MayEnter,ClientLevel.High);
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.HIGH);
IOMove(IO_Type.O_WLine_Run, IO_VALUE.HIGH);
//转动线体
IOMove(IO_Type.O_ELine_InStop, IO_VALUE.LOW);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.HIGH);
//等待进料检测信号
bool result = WaitIo(IO_Type.O_ELine_InCheck, IO_VALUE.HIGH, 60000);
bool result = WaitIo(IO_Type.O_WLine_OutCheck, IO_VALUE.LOW, 60000);
if (!result) if (!result)
{ {
LogUtil.info(logName + " 等待 O_WLine_OutCheck=LOW超时，等待8000后停止转动 "); LogUtil.info(logName + " 等待 O_ELine_InCheck=High 超时， 等待 5000 后停止 O_ELine_Run");
} }
else else
{ {
LogUtil.info(logName + " 已收到 O_WLine_OutCheck=LOW ，等待8000后停止转动 "); LogUtil.info(logName + "已收到 O_ELine_InCheck=High ， 等待 5000 后停止 O_ELine_Run");
} }
Thread.Sleep(8000);
//停止转动 ,阻挡上升
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.LOW);
//此处判断是否需要停止接料线体 //等待500毫秒后停止转动
IOMove(IO_Type.O_WLine_Run, IO_VALUE.LOW); Thread.Sleep(5000);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.FinishLeave, ClientLevel.High, true);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.LOW);
//料串可离开
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
Thread.Sleep(1000); Thread.Sleep(5000);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true); AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
}); });
ProcessShelfOut = false; ProcessShelfEnter = false;
LogUtil.info(logName + ",停止转动 结束"); LogUtil.info(logName + " 结束");
} }
else else
{ {
LogUtil.info(logName + " 未检测到出口料串，不处理"); LogUtil.info(logName + " 入口有料架，暂不处理");
} }
} }
catch (TimeoutException te) catch (TimeoutException te)
...@@ -467,55 +460,55 @@ namespace OnlineStore.DeviceLibrary ...@@ -467,55 +460,55 @@ namespace OnlineStore.DeviceLibrary
} }
finally finally
{ {
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.LOW); IOMove(IO_Type.O_ELine_Run, IO_VALUE.LOW);
ProcessShelfOut = false; ProcessShelfEnter = false;
} }
}); });
} }
internal void ShelfEnterProcess()
internal void ShelfOutProcess(string id, string rfid)
{ {
string logName = Name + "料串 "+rfid+"[" + Config.AgvOutName + "->AGV ] ";
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
string logName = Name + "料串 [AGV ->" + Config.AgvInName + " ] ";
try try
{ {
if (IOValue(IO_Type.O_ELine_InCheck).Equals(IO_VALUE.LOW)) AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
if (IOValue(IO_Type.O_WLine_OutCheck).Equals(IO_VALUE.HIGH))
{ {
LogUtil.info(logName + " 阻挡上升，转动链条"); LogUtil.info(logName + " 出口阻挡下降，转动线体");
//AgvClient.SetStatus(Config.AgvInName,"",ClientAction.MayEnter,ClientLevel.High); ProcessShelfOut = true;
ProcessShelfEnter = true; //出口阻挡下降，出口线体转动
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.HIGH);
IOMove(IO_Type.O_WLine_Run, IO_VALUE.HIGH);
//转动线体
IOMove(IO_Type.O_ELine_InStop, IO_VALUE.LOW);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.HIGH);
//等待进料检测信号
bool result = WaitIo(IO_Type.O_ELine_InCheck, IO_VALUE.HIGH, 60000);
bool result = WaitIo(IO_Type.O_WLine_OutCheck, IO_VALUE.LOW, 60000);
if (!result) if (!result)
{ {
LogUtil.info(logName + " 等待 O_ELine_InCheck=High 超时， 等待 5000 后停止 O_ELine_Run"); LogUtil.info(logName + " 等待 O_WLine_OutCheck=LOW超时，等待8000后停止转动 ");
} }
else else
{ {
LogUtil.info(logName + "已收到 O_ELine_InCheck=High ， 等待 5000 后停止 O_ELine_Run"); LogUtil.info(logName + " 已收到 O_WLine_OutCheck=LOW ，等待8000后停止转动 ");
} }
Thread.Sleep(8000);
//停止转动 ,阻挡上升
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.LOW);
//等待500毫秒后停止转动 //此处判断是否需要停止接料线体
Thread.Sleep(5000); IOMove(IO_Type.O_WLine_Run, IO_VALUE.LOW);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.FinishLeave, ClientLevel.High, true);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.LOW);
//料串可离开
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
Thread.Sleep(1000); Thread.Sleep(5000);
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true); AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
}); });
ProcessShelfEnter = false; ProcessShelfOut = false;
LogUtil.info(logName + " 结束"); LogUtil.info(logName + "结束,停止转动 ");
}
else
{
LogUtil.info(logName + " 未检测到出口料串，暂不处理");
} }
} }
catch (TimeoutException te) catch (TimeoutException te)
...@@ -528,8 +521,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -528,8 +521,8 @@ namespace OnlineStore.DeviceLibrary
} }
finally finally
{ {
IOMove(IO_Type.O_ELine_Run, IO_VALUE.LOW); IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.LOW);
ProcessShelfEnter = false; ProcessShelfOut = false;
} }
}); });
} }
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip_Partial.cs
...@@ -162,11 +162,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -162,11 +162,12 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.MoveParam.WareCount = 99999; MoveInfo.MoveParam.WareCount = 99999;
Work_ReelInfo.WareCount = 99999; Work_ReelInfo.WareCount = 99999;
} }
WorkLog("料盘处理：点料结束，关闭X关机互锁信号"); WorkLog("料盘处理：点料结束，关闭X关机互锁信号，上传点料结果");
IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW); IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
Task.Factory.StartNew(delegate { Task.Factory.StartNew(delegate {
SServerManager.Return_Material(Name, MoveInfo.MoveParam.WareCode, Work_ReelInfo.WareCount); string msg= SServerManager.Return_Material(Name, MoveInfo.MoveParam.WareCode, Work_ReelInfo.WareCount);
LogUtil.error(Name + "上传【"+MoveInfo.MoveParam.OutStr()+"】点料结果失败：" + msg);
}); });
} }
#endregion #endregion
......
RC1266-AutoCountMachine/source/DeviceLibrary/manager/SServerManager.cs
...@@ -110,13 +110,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -110,13 +110,6 @@ namespace OnlineStore.DeviceLibrary
DateTime startTime = DateTime.Now; DateTime startTime = DateTime.Now;
string resultStr = HttpHelper.Post(server, ""); string resultStr = HttpHelper.Post(server, "");
LogUtil.info("Return_Material " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】"); LogUtil.info("Return_Material " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
// ServerData serverResult = JsonHelper.DeserializeJsonToObject<ServerData>(resultStr);
if (!msg.Equals(""))
{
LogUtil.error(msg);
}
} }
catch (Exception ex) catch (Exception ex)
{ {
......
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