翻板运动过程中停止继续运行翻转过头问题

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -11,7 +11,7 @@ namespace DeviceLibrary
 {
     public class LiftMonitor : ISafetyDevice
     {
-        string doorClose = IO_Type.StringDoor_Close;
+        string doorClose = IO_Type.NGDoor_Close;
         /// <summary>
         /// 关闭端延时
         /// </summary>
@@ -71,6 +71,12 @@ namespace DeviceLibrary
                 moveInfo.log($"急停未解除");
                 return;
             }
+            double speed = (double)upspeed;
+            if(paused)
+            {
+                speed = speed / 3.0;
+                moveInfo.log($"上一次有暂停，速度降为{speed}");
+            }
             paused = false;
             if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
             {
@@ -84,7 +90,7 @@ namespace DeviceLibrary
                 IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
                 Thread.Sleep(200);
             }
-            axisBean.RelMove(StrokeLength, (double)upspeed);
+            axisBean.RelMove(StrokeLength, speed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftUp");
             var wr = WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitUp), $"等待顶升[{axisBean.Config.Explain}]机构上升");
@@ -162,6 +168,12 @@ namespace DeviceLibrary
                 moveInfo.log($"急停未解除");
                 return;
             }
+            double speed = (double)downspeed;
+            if (paused)
+            {
+                speed = speed / 3.0;
+                moveInfo.log($"上一次有暂停，速度降为{speed}");
+            }
             paused = false;
             if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
             {
@@ -175,7 +187,7 @@ namespace DeviceLibrary
                 IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
                 Thread.Sleep(200);
             }
-            axisBean.RelMove(-StrokeLength, (double)downspeed);
+            axisBean.RelMove(-StrokeLength, speed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftDown");
             var wr = WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitDown), $"等待顶升[{axisBean.Config.Explain}]机构下降");

DeviceLibrary/DeviceLibrary/VisionHelper.cs

@@ -25,6 +25,13 @@ namespace DeviceLibrary
                 CheckAndRunServer();
                 string json = HttpHelper.Get(url);
                 Result result = JsonHelper.DeserializeJsonToObject<Result>(json);
+                if (result == null)
+                {
+                    LogUtil.info($"reelStatusCheck 无反馈，重试");
+                    Thread.Sleep(1000);
+                    json = HttpHelper.Get(url);
+                    result = JsonHelper.DeserializeJsonToObject<Result>(json);
+                }
                 if (result != null && result.code == 0)
                 {
                     LogUtil.info($"{configName} 料盘放置正常");
@@ -60,14 +67,14 @@ namespace DeviceLibrary
                     throw new Exception("找不到算法服务器文件");
                 }
 
-                EyemFeatureSet= ProcessUtil.StartProcess("EyemFeatureSet", Application.StartupPath+"\\Modules\\EyemFeatureSet\\");
+                EyemFeatureSet = ProcessUtil.StartProcess("EyemFeatureSet", Application.StartupPath + "\\Modules\\EyemFeatureSet\\");
                 int num = 5;
                 while (num > 0)
                 {
                     num--;
                     Thread.Sleep(1000);
                     MyWebClient myWebClient = new MyWebClient(webclienttimeout);
-                    string text2 = myWebClient.DownloadString(visionUrl+"/alive");
+                    string text2 = myWebClient.DownloadString(visionUrl + "/alive");
                     if (text2.Trim() == "\"1\"")
                     {
                         return;