exception handling

source/RobotAPI/components/units/ForceTorqueObserver.cpp

@@ -100,22 +100,28 @@ void armarx::ForceTorqueObserver::reportSensorValues(const std::string &sensorNo
 {
     ScopedLock lock(dataMutex);
 
-
-    DataFieldIdentifierPtr id;
-    if(forces)
+    try
     {
-        id = getForceDatafieldId(sensorNodeName, forces->frame);
-        std::string type = "forces";
-        offerValue(sensorNodeName, type, forces, id);
+        DataFieldIdentifierPtr id;
+        if(forces)
+        {
+            id = getForceDatafieldId(sensorNodeName, forces->frame);
+            std::string type = "forces";
+            offerValue(sensorNodeName, type, forces, id);
+        }
+        if(torques)
+        {
+            id = getTorqueDatafieldId(sensorNodeName, torques->frame);
+            std::string type = "torques";
+            offerValue(sensorNodeName, type, torques, id);
+        }
+        updateChannel(id->channelName);
+        updateChannel(id->channelName + POD_SUFFIX);
     }
-    if(torques)
+    catch(std::exception&e)
     {
-        id = getTorqueDatafieldId(sensorNodeName, torques->frame);
-        std::string type = "torques";
-        offerValue(sensorNodeName, type, torques, id);
+        ARMARX_ERROR << "Reporting force torque for " << sensorNodeName << "failed: " << e.what();
     }
-    updateChannel(id->channelName);
-    updateChannel(id->channelName + POD_SUFFIX);
 }