1

DeviceLibrary/DeviceLibrary/CodeManager.cs

@@ -261,9 +261,10 @@ namespace DeviceLibrary
                 if (bmp == null)
                 {
                     if (retrytime > 2)
-                        return false;
+                        return true;
                     retrytime++;
-                    CloseCamera(cameraName);
+                    LoadCamera(true);
+
                     LogUtil.info($"bitmap为空重试第{retrytime}次");
                     Thread.Sleep(500);
                     goto retry;

DeviceLibrary/theMachine/RobotManage.cs

@@ -102,17 +102,25 @@ namespace DeviceLibrary
             LoadFinishEvent?.Invoke(true, crc.GetString(L.open_debug_mode,"打开调试模式"));
         }
         public static void Start() {
-            //Init();
+
             if (!IsLoadOk)
             {
                 LogUtil.info("系统还未加载完毕,无法启动");
                 if (!IsConfigMode)
                     return;
             }
-            mainThread = new Thread(new ThreadStart(mainMachine.Start));
-            mainThread.Start();
+            lock (mainMachine)
+            {
+                if (isRunning)
+                {
+                    LogUtil.info("系统已经在运行");
+                    return;
+                }
+                isRunning = true;
+                mainThread = new Thread(new ThreadStart(mainMachine.Start));
+                mainThread.Start();
+            }
 
-            isRunning = true;
             GC.KeepAlive(mainThread);
             Task.Run(()=> {
                 AxisBean.List.ForEach((x) => { AxisManager.AlarmClear(x.Config.DeviceName, x.Config.GetAxisValue()); });