private void enableListening(IErrorStrategy ies, boolean listen) {
if(ies == null) {return;}
ErrorStrategyModel esm = (ErrorStrategyModel) ies;
if(listen) {
esm.addListener(listenerErrorStrategy);
} else {
esm.removeListener(listenerErrorStrategy);
}
enableListening(esm.getActuatorsErrorStrategy(), listen);
enableListening(esm.getSensorsErrorStrategy(), listen);