Merge branch 'master' of http://106.15.194.121:8083/gujianliang/AGVControl

AgvManager/AgvManager.cs

+using Acc.Common;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Acc.AgvManager
+{
+    public class AgvManager{
+
+        public static Dictionary<string,Node> nodeMap = new Dictionary<string, Node>();
+
+        public static Dictionary<string,AgvBean> agvBeanMap = new Dictionary<string, AgvBean>();
+
+        public static Node GetNode(string nodeName)
+        {
+            nodeMap.TryGetValue(nodeName, out Node node);
+            return node;
+        }
+
+        public static void UpdateNode(Node node)
+        {
+            string nodeName = node.GetNodeName();
+            if (nodeMap.ContainsKey(nodeName))
+            {
+                nodeMap.Add(nodeName, node);
+            }
+            else
+            {
+                nodeMap[nodeName] = node;
+            }
+        }
+
+        public static void UpdateNodeStatus(string nodeName, NodeStatus nodeStatus)
+        {
+            nodeMap.TryGetValue(nodeName, out Node node);
+            if(node != null)
+            {
+                node.UpdateNodeStatus(nodeStatus);
+                nodeMap[nodeName] = node;
+            }
+
+        }
+
+        public static void UpdateAgvStatus(string agvName, AgvStatus agvStatus)
+        {
+
+        }
+
+        public void onTimer()
+        {
+            foreach (AgvBean agvBean in agvBeanMap.Values)
+            {
+                
+                if (agvBean.IsIdle() || agvBean.IsInCharge())
+                {
+                    //空闲，判断电量，是否要进行充电
+                    if (agvBean.NeedCharge())
+                    {
+                        if (!agvBean.IsInCharge())
+                        {
+                            //充电
+                            LogUtil.info("AGV["+agvBean.Name+"]电量过低，执行充电任务");
+                        }
+
+                    }
+                    else
+                    {
+                        //执行优先级最高的新任务
+                        Job jobToExecute = null;
+                        foreach (Node node in nodeMap.Values)
+                        {
+                            Job job = node.GetNewJob(agvBean, nodeMap, agvBeanMap);
+                            if (job != null)
+                            {
+                                if (jobToExecute == null || job.GetPriority() > jobToExecute.GetPriority())
+                                {
+                                    jobToExecute = job;
+                                }
+                            }
+                        }
+
+                        if (jobToExecute != null)
+                        {
+                            if (agvBean.IsInCharge())
+                            {
+                                //充电取消
+                                LogUtil.info("AGV[" + agvBean.Name + "]充电任务中断");
+                            }
+                            LogUtil.info("AGV[" + agvBean.Name + "]开启新的任务"+ jobToExecute.ToString());
+                            agvBean.ExecuteNewJob(jobToExecute);
+                        }
+                    }
+                }
+                else
+                {
+                    //有任务，继续监控任务状态
+                    agvBean.JobContinue(agvBean, nodeMap, agvBeanMap);
+                }
+
+            }
+        }
+    }
+}

AgvManager/AgvManager.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{42A5CBFA-785A-41F8-8E6C-3988DB9EB07C}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>Acc.AgvManager</RootNamespace>
+    <AssemblyName>AgvManager</AssemblyName>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <LangVersion>7.3</LangVersion>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <LangVersion>7.3</LangVersion>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="log4net">
+      <HintPath>..\..\BOSCHStore\dll\log4net.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Configuration" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="AgvManager.cs" />
+    <Compile Include="bean\AgvApi.cs" />
+    <Compile Include="bean\AgvBean.cs" />
+    <Compile Include="bean\AgvStatus.cs" />
+    <Compile Include="bean\Job.cs" />
+    <Compile Include="bean\JobStep.cs" />
+    <Compile Include="bean\Node.cs" />
+    <Compile Include="bean\NodeStatus.cs" />
+    <Compile Include="bean\PriorityLevel.cs" />
+    <Compile Include="demo\DoubleLineInNode.cs" />
+    <Compile Include="demo\LineNode.cs" />
+    <Compile Include="demo\NodePlace.cs" />
+    <Compile Include="demo\TakeEmptyShelfJob.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="util\LogUtil.cs" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file

AgvManager/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("AgvManager")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("AgvManager")]
+[assembly: AssemblyCopyright("Copyright ©  2020")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("42a5cbfa-785a-41f8-8e6c-3988db9eb07c")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+// 可以指定所有值，也可以使用以下所示的 "*" 预置版本号和修订号
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

AgvManager/bean/AgvApi.cs

+using System;
+
+
+namespace Acc.AgvManager
+{
+    public interface AgvApi
+    {
+
+    }
+
+}
+   

AgvManager/bean/AgvBean.cs

+using Acc.Common;
+using System;
+using System.Collections.Generic;
+
+namespace Acc.AgvManager
+{
+    public class AgvBean
+    {
+        public AgvStatus agvStatus;
+        public AgvApi AgvApi { get; set; }
+        public Job CurrentJob { get; set; }
+
+        public string Name { get; set; }
+
+        public bool IsIdle()
+        {
+            return false;
+        }
+
+        public bool NeedCharge()
+        {
+            return false;
+        }
+
+        public void ExecuteNewJob(Job newJob)
+        {
+            CurrentJob = newJob;
+        }
+
+        public void JobContinue(AgvBean currentAgvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
+        {
+            if (CurrentJob != null)
+            {
+                if (!CurrentJob.IsProcess)
+                {
+                    try
+                    {
+                        CurrentJob.IsProcess = true;
+                        CurrentJob.Execute(currentAgvBean, nodeMap, agvBeanMap);
+                    }catch(Exception e)
+                    {
+                        LogUtil.error("AGV["+Name+"]执行任务["+ CurrentJob.ToString()+"]出错",e);
+                    }
+                    finally
+                    {
+                        CurrentJob.IsProcess = false;
+                    }
+                }
+                
+                if (CurrentJob.IsEnd())
+                {
+                    //添加任务已经完成日志
+                    CurrentJob = null;
+                }
+            }
+        }
+
+        internal bool IsInCharge()
+        {
+            throw new NotImplementedException();
+        }
+    }
+}
+

AgvManager/bean/AgvStatus.cs

+using System;
+
+
+
+namespace Acc.AgvManager
+{
+
+}
+public class AgvStatus
+{
+	public AgvStatus()
+	{
+	}
+}

AgvManager/bean/Job.cs

+using System;
+using System.Collections.Generic;
+
+namespace Acc.AgvManager
+{
+    public abstract class Job
+    {
+        /// <summary>
+        /// 是否任务正在执行，防止任务执行时间过长产生多线程问题
+        /// </summary>
+        public bool IsProcess { get; set; }
+
+        /// <summary>
+        /// 任务优先级
+        /// </summary>
+        /// <returns></returns>
+        public abstract int GetPriority();
+
+        /// <summary>
+        /// 任务是否已经结束
+        /// </summary>
+        /// <returns></returns>
+       public abstract bool IsEnd();
+
+        /// <summary>
+        /// 根据任务状态继续执行任务
+        /// </summary>
+       public abstract void Execute(AgvBean agvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap);
+
+    }
+}
+

AgvManager/bean/JobStep.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Acc.AgvManager
+{
+    public class JobStep<T> where T : Enum
+    {
+        private T step;
+        private string msg = "";
+        public string Msg
+        {
+            get { return msg; }
+            set
+            {
+                if (!string.IsNullOrEmpty(value))
+                {
+                    //不为空，且与上一个消息不一样才打印
+                    if (!value.Equals(msg))
+                    {
+                        LogUtil.info(value);
+                    }
+                }
+                msg = value;
+            }
+
+        }
+        private DateTime startTime = DateTime.Now;
+
+        public JobStep(T initStep)
+        {
+            this.step = initStep;
+            this.msg = "";
+        }
+
+
+        /// <summary>
+        /// 当前步骤是否是某个步骤
+        /// </summary>
+        /// <param name="step"></param>
+        /// <returns></returns>
+        public bool IsStep(T step)
+        {
+            return this.step.Equals(step);
+        }
+
+        /// <summary>
+        /// 是否超时
+        /// </summary>
+        /// <param name="timeOutMilliseconds"></param>
+        /// <returns></returns>
+        public bool IsTimeOut(int timeOutMilliseconds)
+        {
+            TimeSpan span = DateTime.Now - startTime;
+            if (span.TotalMilliseconds > timeOutMilliseconds)
+            {
+                return true;
+            }
+            return false;
+        }
+
+        /// <summary>
+        /// 进入下一个步骤
+        /// </summary>
+        /// <param name="nextStep"></param>
+        public void ToNextStep(T nextStep)
+        {
+            step = nextStep;
+            startTime = DateTime.Now;
+        }
+
+        public string StatusStr()
+        {
+            return step.ToString();
+        }
+
+        
+        
+    }
+}

AgvManager/bean/Node.cs

+using System;
+using System.Collections.Generic;
+
+namespace Acc.AgvManager
+{
+    public abstract class Node
+    {
+        protected NodeStatus nodeStatus = new NodeStatus();
+
+        public abstract string GetNodeName();
+
+        public void UpdateNodeStatus(NodeStatus status)
+        {
+           nodeStatus = status;
+        }
+
+        public virtual Job GetNewJob(AgvBean currentAgvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
+        {
+            return null;
+        }
+
+    }
+}
+

AgvManager/bean/NodeStatus.cs

+using System;
+
+namespace Acc.AgvManager
+{
+    /// <summary>
+    /// 节点状态
+    /// </summary>
+    public class NodeStatus
+    {
+        public bool CanEnter = false;
+
+    }
+}
+

AgvManager/bean/PriorityLevel.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Acc.AgvManager
+{
+    public class PriorityLevel
+    {
+        public static readonly int HIGH = 100;
+        public static readonly int MIDDLE = 50;
+        public static readonly int LOW = 1;
+    }
+}

AgvManager/demo/DoubleLineInNode.cs

+using Acc.AgvManager;
+using Acc.Common;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+/// <summary>
+/// 双层线空料架Node
+/// </summary>
+namespace Acc.AgvManager.demo
+{
+    public class DoubleLineInNode : Node
+    {
+        public override Job GetNewJob(AgvBean currentAgvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
+        {
+            //状态为未放满,且有解绑任务，如果没有其他小车执行回收空料架任务，分配一个任务
+            foreach(AgvBean agvBean in agvBeanMap.Values)
+            {
+                //已经有小车在执行了
+                if(agvBean.job is TakeEmptyShelfJob)
+                {
+                    return null;
+                }
+            }
+
+            foreach(Node node in nodeMap.Values)
+            {
+                if(node is LineNode)
+                {
+                    LineNode lineNode = (LineNode)node;
+                    bool hasShelfToTake = lineNode.HasShelfToTake();
+                    if (hasShelfToTake)
+                    {
+                        string nodeName = node.GetNodeName();
+                        Job job = new TakeEmptyShelfJob(nodeName, PriorityLevel.MIDDLE);
+                    }
+                }
+            }
+
+            return null;
+        }
+
+        public override string GetNodeName()
+        {
+            return PLACE.DOUBLE_LINE_IN;
+        }
+    }
+
+
+}

AgvManager/demo/LineNode.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Acc.AgvManager.demo
+{
+    /// <summary>
+    /// 产线
+    /// </summary>
+    public class LineNode : Node
+    {
+        private string _place;
+
+        /// <summary>
+        /// 解绑的RFID列表
+        /// </summary>
+        private List<String> unBindRfidList = new List<string>();
+        /// <summary>
+        /// 正在执行此任务的AGV，拉上料架后从列表中清除，同时ShelfTakeCount + 1
+        /// </summary>
+        private List<String> taskAgvList = new List<string>();
+
+        /// <summary>
+        /// 添加解绑料架
+        /// </summary>
+        /// <param name="rfid"></param>
+        public void AddUnBindRfid(string rfid)
+        {
+            if (!unBindRfidList.Contains(rfid))
+            {
+                Common.LogUtil.info("添加解绑料架["+rfid+"]");
+                unBindRfidList.Add(rfid);
+            }
+            else
+            {
+                Common.LogUtil.info("添加解绑料架[" + rfid + "]失败，该料架已经解绑过");
+            }
+        }
+        
+
+        /// <summary>
+        /// 已经拉走了几个空料架
+        /// </summary>
+        public int AlreadyTakeCount { get; set; }
+
+        public LineNode(string place)
+        {
+            this._place = place;
+        }
+
+        public override string GetNodeName()
+        {
+            return _place;
+        }
+
+        /// <summary>
+        /// AGV已经拉上料架
+        /// </summary>
+        /// <returns></returns>
+        public void FinishedOneShelfTask(string agvName)
+        {
+            if (taskAgvList.Contains(agvName))
+            {
+                Common.LogUtil.info("AGV[" + agvName + "]已将[" + _place + "]的一个空料架拉上车，解除任务锁定");
+                taskAgvList.Remove(agvName);
+                AlreadyTakeCount = AlreadyTakeCount + 1;
+                if (AlreadyTakeCount == unBindRfidList.Count)
+                {
+                    Common.LogUtil.info("[" + _place + "]的解绑的空料架已全部拉走");
+                    AlreadyTakeCount = 0;
+                    unBindRfidList = new List<string>();
+                }
+            }
+        }
+
+        /// <summary>
+        /// 是否有空料架需要回收
+        /// </summary>
+        /// <returns></returns>
+        public bool HasShelfToTake()
+        {
+            int remainUnBindShelf = unBindRfidList.Count - taskAgvList.Count - AlreadyTakeCount;
+            return remainUnBindShelf > 0;
+        }
+
+        /// <summary>
+        /// 开始一辆车去拉料架
+        /// </summary>
+        public bool StartOneTask(string agvName)
+        {
+            if(HasShelfToTask())
+            {
+                if (!taskAgvList.Contains(agvName))
+                {
+                    taskAgvList.Add(agvName);
+                    Common.LogUtil.info("AGV["+ agvName + "]锁定["+ _place + "]一个空料架任务");
+                }
+            }
+            return false;
+        }
+    }
+}

AgvManager/demo/NodePlace.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Acc.AgvManager.demo
+{
+    public class PLACE
+    {
+
+        public static readonly string NONE = "";
+        /// <summary>
+        /// 待机点
+        /// </summary>
+        public static readonly string STAND_UP = "STAND_UP";
+        public static readonly string DOUBLE_LINE_IN = "A1";
+        public static readonly string LINE_C1 = "C1";
+        public static readonly string LINE_D1 = "D1";
+    }
+}

AgvManager/demo/TakeEmptyShelfJob.cs

+using Acc.Common;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Acc.AgvManager.demo
+{
+    /// <summary>
+    /// 回收空料架任务
+    /// </summary>
+    public class TakeEmptyShelfJob : Job
+    {
+        public TakeEmptyShelfJob(string palce, int priority)
+        {
+            emptyShelfPlace = palce;
+            _priority = priority;
+        }
+
+        /// <summary>
+        /// 空料架位置点
+        /// </summary>
+        private string emptyShelfPlace = PLACE.NONE;
+
+        /// <summary>
+        /// 优先级
+        /// </summary>
+        private int _priority;
+
+        private JobStep<TAKE_EMPTY_STEP> TakeEmptyStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
+        
+        public override void Execute(AgvBean agvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
+        {
+
+            if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
+            {
+                LogUtil.info("开始执行回收空料架任务，发送到AGV");
+                TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TAKE_TASK);
+                Node node = AgvManager.GetNode(emptyShelfPlace);
+                if(node != null)
+                {
+                    if(node is LineNode)
+                    {
+                        agvBean.
+                        LineNode lineNode = (LineNode)node;
+                        lineNode.StartOneTask(agvBean.Name);
+                        AgvManager.UpdateNode(node);
+                    }
+                }
+            }
+            else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TAKE_TASK))
+            {
+                //判断小车是否开始执行任务
+                bool isTaskStart = false;
+                if (isTaskStart)
+                {
+                    LogUtil.info("AGV已接收并开始执行回收空料架任务，等待到达取架点");
+                    TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TAKE_PLACE);
+                }
+            }
+        }
+
+        public override int GetPriority()
+        {
+            return _priority;
+        }
+
+        public override bool IsEnd()
+        {
+            return TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END);
+        }
+    }
+    /// <summary>
+    /// AGV离开A4
+    /// </summary>
+    public enum TAKE_EMPTY_STEP
+    {
+        NONE,
+        /// <summary>
+        /// 等待AGV开始执行去取架点任务
+        /// </summary>
+        WAIT_AGV_START_TAKE_TASK,
+        /// <summary>
+        /// 等待AGV到达取架点
+        /// </summary>
+        WAIT_REACH_TAKE_PLACE,
+        /// <summary>
+        /// AGV到达取架点
+        /// </summary>
+        REACH_TAKE_PLACE,
+        
+        /// <summary>
+        /// 送上双层线
+        /// </summary>
+        END
+    }
+}

AgvManager/util/LogUtil.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using log4net;
+using System.Reflection;
+using System.Drawing;
+
+
+namespace Acc.Common
+{
+    public class LogUtil
+    {
+        public static readonly ILog AIOLog = LogManager.GetLogger("AIOBOXLog");
+        private static LogUtil instance = new LogUtil();
+        public delegate void ShowLog(string msg, Color color);
+        public static readonly ILog LOGGER = LogManager.GetLogger("RollingLogFileAppender");
+        public static readonly ILog rfidLog = LogManager.GetLogger("RfidLog");
+        public static Dictionary<int, DateTime> lastErrorLogTime = new Dictionary<int, DateTime>();
+
+        public static System.Windows.Forms.RichTextBox logBox = null;
+
+        public static int showCount = 25;
+
+        public static bool debug_opened = false;
+
+
+        public static void info(ILog log, string msg)
+        {
+            if (log == null)
+            {
+                return;
+            }
+            log.Info(msg);
+            AddToBox(msg, Color.Black);
+            //clear();
+        }
+        public static void info(ILog log, string msg, Color color)
+        {
+            log.Info(msg);
+            AddToBox(msg, color);
+        }
+        public static void debug(ILog log, string msg, Color color)
+        {
+            log.Debug(msg);
+            if (debug_opened)
+            {
+                AddToBox(msg, color);
+            }
+        }
+        public static void debug(ILog log, string msg)
+        {
+            log.Debug(msg);
+            if (debug_opened)
+            {
+                AddToBox(msg, Color.Gray);
+            }
+        }
+
+        public static void RfidLog(string msg)
+        {
+            rfidLog.Debug(msg);
+        }
+        public static void error(string errorMsg, int type, int seconds = 10)
+        {
+            if (lastErrorLogTime.ContainsKey(type))
+            {
+                TimeSpan span = DateTime.Now - lastErrorLogTime[type];
+                if (span.TotalSeconds > seconds)
+                {
+                    lastErrorLogTime.Remove(type);
+                    lastErrorLogTime.Add(type, DateTime.Now);
+                    error(LOGGER, errorMsg);
+                }
+            }
+            else
+            {
+                lastErrorLogTime.Add(type, DateTime.Now);
+                error(LOGGER, errorMsg);
+            }
+        }
+        public static void error(ILog log, string errorMsg, Exception ex = null)
+        {
+            if (errorMsg.Trim().Equals("") && (ex == null))
+            {
+                return;
+            }
+            if (ex == null)
+            {
+                log.Error(errorMsg);
+            }
+            else
+            {
+                log.Error(errorMsg, ex);
+            }
+            AddToBox(errorMsg, Color.Red);
+        }
+        private static void AddToBox(string msg, Color color)
+        {
+            try
+            {
+                ShowLogPro(msg, color);
+            }
+            catch (Exception ex)
+            {
+                LOGGER.Error("出错：", ex);
+            }
+        }
+        private static List<string> logList = new List<string>();
+        public static string LastText = "";
+        private static void ShowLogPro(string msg, Color color)
+        {
+            try
+            {
+                if (logList.Count > 0)
+                {
+                    // logList.RemoveAt(0);
+                }
+                if (logList.Count >= showCount)
+                {
+                    logList.RemoveAt(0);
+                }
+                string text = "";
+                foreach (string str in logList)
+                {
+                    text += str;
+                }
+                System.DateTime now = System.DateTime.Now;
+                logList.Add(now.ToLongTimeString() + "  " + msg + Environment.NewLine);
+                if (logBox == null)
+                {
+                    return;
+                }
+                LastText = text;
+                if (logBox.Visible)
+                {
+                    logBox.Text = text;
+
+                    //  logBox.Focus(); //使文本框获取焦点
+                    logBox.AppendText(now.ToLongTimeString() + "  " + msg + Environment.NewLine); //增加文本
+
+                    TimeSpan span = DateTime.Now - lastTime;
+                    if (span.TotalSeconds > 3000000)
+                    {
+                        lastTime = DateTime.Now;
+                        logBox.Select(logBox.Text.Length, 0);  //设置光标的位置到文本尾 
+                        logBox.ScrollToCaret(); //滚动到控件光标处 
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LOGGER.Error("出错：" + ex.ToString());
+            }
+        }
+        private static DateTime lastTime = DateTime.Now;
+        public static void UpdateLogbox(System.Windows.Forms.RichTextBox box)
+        {
+            logBox = box;
+            if (logBox != null && logBox.Visible)
+            {
+                logBox.Text = LastText;
+
+                TimeSpan span = DateTime.Now - lastTime;
+                if (span.TotalSeconds > 3000000)
+                {
+                    lastTime = DateTime.Now;
+                    logBox.Select(logBox.Text.Length, 0);  //设置光标的位置到文本尾 
+                    logBox.ScrollToCaret(); //滚动到控件光标处 
+                }
+            }
+        }
+        public static void ClearLog()
+        {
+
+            if (logBox != null)
+            {
+                LastText = "";
+                logList.Clear();
+                logBox.Text = "";
+            }
+        }
+        public static void debug(string msg)
+        {
+            debug(LOGGER, msg);
+        }
+        public static void error(string errorMsg, Exception ex = null)
+        {
+            error(LOGGER, errorMsg, ex);
+        }
+        public static void info(string msg)
+        {
+            info(LOGGER, msg);
+        }
+
+    }
+}