added readable names in EtherCAT::readErrorCounters() for EtherCAT debugging

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp

@@ -722,6 +722,14 @@ void EtherCAT::readErrorCounters()
     IceUtil::Time start = IceUtil::Time::now(IceUtil::Time::Monotonic);
     for (uint16 slaveIndex = 1; slaveIndex <= *(ecx_context.slavecount); slaveIndex++)
     {
+        std::string name = "Unknown";
+
+        AbstractSlavePtr slavePtr =  getSlaveAtId(slaveIndex);
+        if (slavePtr)
+        {
+            name = slavePtr->getSlaveIdentifier().humanName;
+        }
+
         auto ADPh = (uint16)(1 - slaveIndex);
         uint16_t configAddr = ecx_APRDw(ecx_context.port, ADPh, ECT_REG_STADR, 100000);
         for (int i = 0; i < 4; i++)
@@ -740,8 +748,9 @@ void EtherCAT::readErrorCounters()
             ecx_APRD(ecx_context.port, ADPh, 0x310 + i, 1, &linkLostCounter, 100000);
             if (rxError > 0 || invalidFrameCounter > 0 || previousErrorCounter > 0 || linkLostCounter > 0)
             {
-                ARMARX_INFO << "non zero frame error counter found: Slavenumber " << slaveIndex << "\tconfig addr: " << (int)configAddr << ":  port " << i << ": "
-                            << VAROUT((int)rxError) << "\t" << VAROUT((int)invalidFrameCounter) << "\t" << VAROUT((int)previousErrorCounter) << "\t" << VAROUT((int)linkLostCounter);
+                ARMARX_ERROR << "non zero frame error counter found: Slavenumber " << slaveIndex << "\tname: " << name
+                             << "\tconfig addr: " << (int)configAddr << ":  port " << i << ": "
+                             << VAROUT((int)rxError) << "\t" << VAROUT((int)invalidFrameCounter) << "\t" << VAROUT((int)previousErrorCounter) << "\t" << VAROUT((int)linkLostCounter);
             }
         }
         if ((IceUtil::Time::now(IceUtil::Time::Monotonic) - start).toMilliSeconds() > 10)