feat: Implement new method

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp

@@ -87,6 +87,21 @@ namespace armarx::RobotUnitModule
             emergencyStopTopic->reportEmergencyStopState(state);
         }
 
+        bool
+        checkAndSetEmergencyStopState(EmergencyStopState targetState,
+                                      EmergencyStopState checkState,
+                                      const ::Ice::Current&) final override
+        {
+            if (getEmergencyStopState() != checkState)
+            {
+                return false;
+            }
+
+            setEmergencyStopState(targetState);
+
+            return true;
+        }
+
         EmergencyStopState
         getEmergencyStopState(const Ice::Current& = Ice::emptyCurrent) const final override
         {