Make error output more verbose

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

@@ -440,23 +440,23 @@ namespace armarx
         void ControlThread::rtDeactivateAssignedNJointControllerBecauseOfError(std::size_t ctrlDevIndex)
         {
             std::size_t nJointCtrlIndex = rtGetActivatedJointToNJointControllerAssignement().at(ctrlDevIndex);
-            ARMARX_CHECK_EXPRESSION_W_HINT(
-                nJointCtrlIndex < rtGetControlDevices().size(),
-                nJointCtrlIndex << " < " << rtGetControlDevices().size() <<
-                ": no NJoint controller controls this device (name = "
-                << rtGetControlDevices().at(ctrlDevIndex)->getDeviceName()
+            ARMARX_CHECK_LESS_W_HINT(
+                nJointCtrlIndex, rtGetControlDevices().size(),
+                "no NJoint controller controls this device (name = "
+                << rtGetControlDevices().at(ctrlDevIndex)->rtGetDeviceName()
                 << ", ControlMode = " << rtGetActivatedJointControllers().at(ctrlDevIndex)->getControlMode() << ")!" << "\n"
+                << "This means an invariant is violated! Dumping data for debugging:\n"
                 << VAROUT(ctrlDevIndex) << "\nrtGetActivatedJointControllers\n"
                 << ARMARX_STREAM_PRINTER
-            {
-                for (std::size_t i = 0; i < rtGetActivatedJointControllers().size(); ++i)
                 {
-                    const JointController* jctrl = rtGetActivatedJointControllers().at(i);
-                    out << "    " << i << "\t" << jctrl << " " << jctrl->getControlMode() << "\n";
+                    for (std::size_t i = 0; i < rtGetActivatedJointControllers().size(); ++i)
+                    {
+                        const JointController* jctrl = rtGetActivatedJointControllers().at(i);
+                        out << "    " << i << "\t" << jctrl << " " << jctrl->getControlMode() << "\n";
+                    }
                 }
-            }
-                    << VAROUT(rtGetActivatedNJointControllers()) << "\n"
-                    << VAROUT(rtGetActivatedJointToNJointControllerAssignement())
+                << VAROUT(rtGetActivatedNJointControllers()) << "\n"
+                << VAROUT(rtGetActivatedJointToNJointControllerAssignement())
             );
 
             rtDeactivateNJointControllerBecauseOfError(nJointCtrlIndex);