improve error output

source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.cpp

@@ -21,6 +21,8 @@
  */
 #include "KinematicSubUnit.h"
 
+#include <RobotAPI/libraries/RobotStatechartHelpers/KinematicUnitHelper.h>
+
 armarx::KinematicSubUnit::KinematicSubUnit() :
     reportSkipper(20.0f)
 {
@@ -224,14 +226,14 @@ void armarx::KinematicSubUnit::switchControlMode(const armarx::NameControlModeMa
             ControlMode mode = n2c.second;
             if (!devs.count(name))
             {
-                ARMARX_WARNING << "requested mode " << mode << " for nonexistent device '" << name
+                ARMARX_WARNING << "requested mode '" << KinematicUnitHelper::ControlModeToString(mode) << "' for nonexistent device '" << name
                                << "'. (ignoring this device)";
                 continue;
             }
             NJointKinematicUnitPassThroughControllerPtr ctrl = NJointKinematicUnitPassThroughControllerPtr::dynamicCast(devs.at(name).getController(mode));
             if (!ctrl)
             {
-                ARMARX_WARNING << "requested unsupported mode " << mode << " for device '" << name
+                ARMARX_WARNING << "requested unsupported mode '" << KinematicUnitHelper::ControlModeToString(mode) << "' for device '" << name
                                << "'. (ignoring this device)";
                 continue;
             }

source/RobotAPI/libraries/RobotStatechartHelpers/KinematicUnitHelper.cpp

@@ -57,3 +57,5 @@ NameControlModeMap KinematicUnitHelper::MakeControlModes(const NameValueMap& joi
     }
     return cm;
 }
+
+

source/RobotAPI/libraries/RobotStatechartHelpers/KinematicUnitHelper.h

@@ -40,7 +40,43 @@ namespace armarx
         void setJointVelocities(const NameValueMap& jointVelocities);
         void setJointTorques(const NameValueMap& jointTorques);
         static NameControlModeMap MakeControlModes(const NameValueMap& jointValues, ControlMode controlMode);
+        static std::string ControlModeToString(ControlMode controlMode)
+        {
+            std::string state;
+            switch (controlMode)
+            {
+                case eDisabled:
+                    state = "Disabled";
+                    break;
 
+                case eUnknown:
+                    state = "Unknown";
+                    break;
+
+                case ePositionControl:
+                    state = "Position";
+                    break;
+
+                case eVelocityControl:
+                    state = "Velocity";
+                    break;
+
+                case eTorqueControl:
+                    state = "Torque";
+                    break;
+
+
+                case ePositionVelocityControl:
+                    state = "Position + Velocity";
+                    break;
+
+                default:
+                    //show the value of the mode so it can be implemented
+                    state = std::string("nyi Mode: " + std::to_string(controlMode));
+                    break;
+            }
+            return state;
+        }
     private:
         KinematicUnitInterfacePrx kinUnit;
     };