From 2b1ae71936a83ac7b491c788635c0ae25d1ead78 Mon Sep 17 00:00:00 2001
From: lishuai <1793460677@qq.com>
Date: Fri, 26 Jul 2024 11:55:21 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E5=A0=86=E5=8F=A0=E8=A1=8C=E6=9E=B6?=
 =?UTF-8?q?=E7=BB=88=E7=82=B9=E4=BF=A1=E5=8F=B7=E7=A1=AE=E8=AE=A4?=
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---
 .../TrappedManipulatorManipulatorDeviceDriver.java | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
index b8303196e..3af5f930c 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
@@ -404,10 +404,18 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                     }
 
 
-                    BeltConveyorDeviceDriver beltConveyorDeviceDriver;
+                    BeltConveyorDeviceDriver beltConveyorDeviceDriverStart;
+                    BeltConveyorDeviceDriver beltConveyorDeviceDriverEnd;
                     if (startDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
-                        beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) startDevice.getDeviceDriver();
-                        if (beltConveyorDeviceDriver.getMove() != 1 && beltConveyorDeviceDriver.getMode() != 2) {
+                        beltConveyorDeviceDriverStart = (BeltConveyorDeviceDriver) startDevice.getDeviceDriver();
+                        if (beltConveyorDeviceDriverStart.getMove() != 1 && beltConveyorDeviceDriverStart.getMode() != 2) {
+                            notCreateInstMessage = "universal_notCreateInstMessage2";
+                            return false;
+                        }
+                    }
+                    if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                        beltConveyorDeviceDriverEnd = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
+                        if (beltConveyorDeviceDriverEnd.getMove() != 1 && beltConveyorDeviceDriverEnd.getMode() != 2) {
                             notCreateInstMessage = "universal_notCreateInstMessage2";
                             return false;
                         }