Add error state to NJointController

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp

@@ -214,6 +214,7 @@ namespace armarx
             deactivatedBecauseOfError = false;
             rtPreActivateController();
             isActive = true;
+            errorState.store(false);
         }
     }
 

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h

@@ -708,6 +708,12 @@ namespace armarx
          * calculates a \ref ControlTargetBase "ControlTarget" for.
          */
         const std::vector<std::size_t>& rtGetControlDeviceUsedIndices() const;
+
+        /**
+         * @brief Sets the error state to true. This will deactivate this controller!
+         */
+        bool rtGetErrorState() const;
+
     protected:
         /**
          * @brief This function is called before the controller is activated.
@@ -720,6 +726,10 @@ namespace armarx
          */
         virtual void rtPostDeactivateController() {}
 
+        /**
+         * @brief Sets the error state to true. This will deactivate this controller!
+         */
+        void rtSetErrorState();
     private:
         /**
          * @brief Activates this controller in the \ref RobotUnitModules::ControlThread "ControlThread".
@@ -809,6 +819,7 @@ namespace armarx
         std::atomic_bool isActive {false};
         std::atomic_bool isRequested {false};
         std::atomic_bool deactivatedBecauseOfError {false};
+        std::atomic_bool errorState {false};
         bool deletable {false};
         bool internal {false};
 

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp

@@ -195,6 +195,15 @@ namespace armarx
     {
     }
 
+    inline void NJointController::rtSetErrorState()
+    {
+        errorState.store(true);
+    }
+
+    inline bool NJointController::rtGetErrorState() const
+    {
+        return errorState;
+    }
     //NJointControllerWithTripleBuffer<ControlDataStruct>
     template <typename ControlDataStruct>
     inline void NJointControllerWithTripleBuffer<ControlDataStruct>::rtSwapBufferAndRun(