fix: only add pd trigger if it was generated

Author: robert-burger

include/robotkernel/process_data.h

@@ -332,6 +332,8 @@ class process_data :
          */
         static pd_data_types get_data_type(const std::string& dt_name);
 
+        //! Return if trigger was generated by pd
+        bool is_trigger_dev_generated() const { return trigger_dev_generated; }
 
     public:
         volatile uint64_t pd_cookie;

src/kernel.cpp

@@ -891,7 +891,7 @@ void kernel::add_device(sp_device_t req) {
     device_map[map_index] = req;
 
     const auto& pd = std::dynamic_pointer_cast<process_data>(req);
-    if (pd != nullptr) {
+    if ((pd != nullptr) && pd->is_trigger_dev_generated()) {
         add_device(pd->trigger_dev);
     }
 
@@ -904,7 +904,7 @@ void kernel::remove_device(sp_device_t req) {
     auto map_index = req->id();
 
     const auto& pd = std::dynamic_pointer_cast<process_data>(req);
-    if (pd != nullptr) {
+    if ((pd != nullptr) && pd->is_trigger_dev_generated()) {
         remove_device(pd->trigger_dev);
     }