Change the stop button to prevent deactivation of the ES for 2.5s after it was activated

source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp

@@ -59,6 +59,10 @@ namespace armarx
         connect(emergencyStopShortcut, SIGNAL(activated()), this, SLOT(clicked()));
 
         connect(button, SIGNAL(clicked(bool)), this, SLOT(clicked(bool)));
+        std::stringstream str;
+        str << "After EmergencyStop was activated, you have to wait "
+            << deactivationWaitPeriod.count() << " ms before you can deactivate it.";
+        button->setToolTip(QString::fromStdString(str.str()));
     }
 
     QWidget* EmergencyStopWidget::getButtonWidget()
@@ -106,7 +110,14 @@ namespace armarx
         switch (state)
         {
             case EmergencyStopState::eEmergencyStopActive :
-                emergencyStopMasterPrx->setEmergencyStopState(EmergencyStopState::eEmergencyStopInactive);
+                if (clock_t::now() > timeLastActivated + deactivationWaitPeriod)
+                {
+                    emergencyStopMasterPrx->setEmergencyStopState(EmergencyStopState::eEmergencyStopInactive);
+                }
+                else
+                {
+                    button->setChecked(true);
+                }
                 break;
             case EmergencyStopState::eEmergencyStopInactive :
                 emergencyStopMasterPrx->setEmergencyStopState(EmergencyStopState::eEmergencyStopActive);
@@ -128,6 +139,7 @@ namespace armarx
                 break;
             case EmergencyStopState::eEmergencyStopInactive :
                 button->setChecked(false);
+                timeLastActivated = clock_t::now();
                 break;
             default :
                 button->setChecked(false);

source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h

@@ -73,6 +73,10 @@ namespace armarx
 
         EmergencyStopMasterInterfacePrx emergencyStopMasterPrx;
 
+        using clock_t = std::chrono::high_resolution_clock;
+        static constexpr std::chrono::milliseconds deactivationWaitPeriod{2500};
+        clock_t::time_point timeLastActivated;
+
         // ArmarXWidgetController interface
     public:
         static QString GetWidgetName()