isar 1.26.0__tar.gz → 1.26.1__tar.gz

{isar-1.26.0 → isar-1.26.1}/.github/workflows/compile_requirements.yml

@@ -26,7 +26,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v5
         with:
-          python-version: "3.12"
+          python-version: "3.13"
 
       - name: Install pip-tools
         run: |

{isar-1.26.0 → isar-1.26.1}/.github/workflows/pythonpackage.yml

@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.9", "3.10", "3.11", "3.12"]
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
 
     steps:
       - uses: actions/checkout@v4
@@ -29,13 +29,13 @@ jobs:
         run: |
           python -m pip install --upgrade pip
 
-      - name: Install dependencies with the compiled requirements (for Python 3.12)
-        if: ${{matrix.python-version == '3.12'}}
+      - name: Install dependencies with the compiled requirements (for Python 3.13)
+        if: ${{matrix.python-version == '3.13'}}
         run: |
           pip install -r requirements.txt -e .[dev]
 
-      - name: Install dependencies based on the pyproject.toml file (for Python 3.9-3.11)
-        if: ${{matrix.python-version != '3.12'}}
+      - name: Install dependencies based on the pyproject.toml file (for Python 3.9-3.12)
+        if: ${{matrix.python-version != '3.13'}}
         run: |
           pip install -e .[dev]
 

{isar-1.26.0 → isar-1.26.1}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: isar
-Version: 1.26.0
+Version: 1.26.1
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -95,6 +95,7 @@ Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Topic :: Scientific/Engineering
 Classifier: Topic :: Scientific/Engineering :: Physics
 Classifier: Topic :: Software Development :: Libraries
@@ -137,6 +138,7 @@ Requires-Dist: pytest-xdist; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
 Requires-Dist: requests-mock; extra == "dev"
 Requires-Dist: ruff; extra == "dev"
+Dynamic: license-file
 
 # ISAR
 
@@ -254,21 +256,6 @@ In [this](./src/isar/config/predefined_missions) folder there are predefined def
 corresponding to `mission_id=1`. A new mission may be added by adding a new json-file with a mission description. Note,
 the mission IDs must be unique.
 
-### Running with docker-compose
-
-ISAR may be started with an instance of the [isar-robot](https://github.com/equinor/isar-robot) package by
-
-```shell
-docker-compose up --build
-```
-
-Provided that the simulator from [isar-turtlebot](https://github.com/equinor/isar-turtlebot) is running ISAR may be
-started with the turtlebot by
-
-```shell
-docker-compose -f docker-compose-turtlebot.yml up --build
-```
-
 ### Configuration
 
 The system consists of many configuration variables which may alter the functionality. As an example, it is possible to

{isar-1.26.0 → isar-1.26.1}/README.md

@@ -114,21 +114,6 @@ In [this](./src/isar/config/predefined_missions) folder there are predefined def
 corresponding to `mission_id=1`. A new mission may be added by adding a new json-file with a mission description. Note,
 the mission IDs must be unique.
 
-### Running with docker-compose
-
-ISAR may be started with an instance of the [isar-robot](https://github.com/equinor/isar-robot) package by
-
-```shell
-docker-compose up --build
-```
-
-Provided that the simulator from [isar-turtlebot](https://github.com/equinor/isar-turtlebot) is running ISAR may be
-started with the turtlebot by
-
-```shell
-docker-compose -f docker-compose-turtlebot.yml up --build
-```
-
 ### Configuration
 
 The system consists of many configuration variables which may alter the functionality. As an example, it is possible to

{isar-1.26.0 → isar-1.26.1}/pyproject.toml

@@ -19,6 +19,7 @@ classifiers = [
     "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
     "Topic :: Scientific/Engineering",
     "Topic :: Scientific/Engineering :: Physics",
     "Topic :: Software Development :: Libraries",

{isar-1.26.0 → isar-1.26.1}/requirements.txt

@@ -1,5 +1,5 @@
 #
-# This file is autogenerated by pip-compile with Python 3.12
+# This file is autogenerated by pip-compile with Python 3.13
 # by the following command:
 #
 #    pip-compile --output-file=requirements.txt pyproject.toml
@@ -8,7 +8,7 @@ alitra==1.1.3
     # via isar (pyproject.toml)
 annotated-types==0.7.0
     # via pydantic
-anyio==4.8.0
+anyio==4.9.0
     # via
     #   httpx
     #   starlette
@@ -18,13 +18,13 @@ azure-core==1.32.0
     #   azure-keyvault-secrets
     #   azure-storage-blob
     #   opencensus-ext-azure
-azure-identity==1.20.0
+azure-identity==1.21.0
     # via
     #   isar (pyproject.toml)
     #   opencensus-ext-azure
 azure-keyvault-secrets==4.9.0
     # via isar (pyproject.toml)
-azure-storage-blob==12.24.1
+azure-storage-blob==12.25.0
     # via isar (pyproject.toml)
 backoff==2.2.1
     # via isar (pyproject.toml)
@@ -43,7 +43,7 @@ click==8.1.8
     # via
     #   isar (pyproject.toml)
     #   uvicorn
-cryptography==44.0.1
+cryptography==44.0.2
     # via
     #   azure-identity
     #   azure-storage-blob
@@ -54,17 +54,17 @@ dacite==1.9.2
     # via
     #   alitra
     #   isar (pyproject.toml)
-fastapi==0.115.8
+fastapi==0.115.12
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
-fastapi-azure-auth==5.1.0
+fastapi-azure-auth==5.1.1
     # via isar (pyproject.toml)
-google-api-core==2.24.1
+google-api-core==2.24.2
     # via opencensus
 google-auth==2.38.0
     # via google-api-core
-googleapis-common-protos==1.68.0
+googleapis-common-protos==1.69.2
     # via google-api-core
 h11==0.14.0
     # via
@@ -85,13 +85,13 @@ isodate==0.7.2
     # via
     #   azure-keyvault-secrets
     #   azure-storage-blob
-msal==1.31.1
+msal==1.32.0
     # via
     #   azure-identity
     #   msal-extensions
-msal-extensions==1.2.0
+msal-extensions==1.3.1
     # via azure-identity
-numpy==2.2.3
+numpy==2.2.4
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -111,11 +111,9 @@ opencensus-ext-requests==0.8.0
     # via isar (pyproject.toml)
 paho-mqtt==2.1.0
     # via isar (pyproject.toml)
-portalocker==2.10.1
-    # via msal-extensions
-proto-plus==1.26.0
+proto-plus==1.26.1
     # via google-api-core
-protobuf==5.29.3
+protobuf==6.30.1
     # via
     #   google-api-core
     #   googleapis-common-protos
@@ -137,14 +135,14 @@ pydantic==2.10.6
     #   pydantic-settings
 pydantic-core==2.27.2
     # via pydantic
-pydantic-settings==2.8.0
+pydantic-settings==2.8.1
     # via isar (pyproject.toml)
 pyjwt[crypto]==2.10.1
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
     #   msal
-python-dotenv==1.0.1
+python-dotenv==1.1.0
     # via
     #   isar (pyproject.toml)
     #   pydantic-settings
@@ -172,13 +170,12 @@ six==1.17.0
     #   transitions
 sniffio==1.3.1
     # via anyio
-starlette==0.45.3
+starlette==0.46.1
     # via fastapi
 transitions==0.9.2
     # via isar (pyproject.toml)
 typing-extensions==4.12.2
     # via
-    #   anyio
     #   azure-core
     #   azure-identity
     #   azure-keyvault-secrets

{isar-1.26.0 → isar-1.26.1}/src/isar/apis/models/start_mission_definition.py

@@ -61,7 +61,6 @@ class StartMissionDefinition(BaseModel):
 
 def to_isar_mission(
     start_mission_definition: StartMissionDefinition,
-    return_pose: Optional[InputPose] = None,
 ) -> Mission:
     isar_tasks: List[TASKS] = []
 
@@ -69,9 +68,6 @@ def to_isar_mission(
         task: TASKS = to_isar_task(task_definition)
         isar_tasks.append(task)
 
-    if return_pose:
-        isar_tasks.append(ReturnToHome(pose=return_pose.to_alitra_pose()))
-
     if not isar_tasks:
         raise MissionPlannerError("Mission does not contain any valid tasks")
 

{isar-1.26.0 → isar-1.26.1}/src/isar/apis/schedule/scheduling_controller.py

@@ -1,14 +1,11 @@
 import logging
 from http import HTTPStatus
-from typing import Optional
 
-from alitra import Pose
 from fastapi import Body, HTTPException, Path
 from injector import inject
 
 from isar.apis.models.models import (
     ControlMissionResponse,
-    InputPose,
     StartMissionResponse,
     TaskResponse,
 )
@@ -21,12 +18,7 @@ from isar.mission_planner.mission_planner_interface import MissionPlannerError
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.task import (
-    TASKS,
-    InspectionTask,
-    MoveArm,
-    ReturnToHome,
-)
+from robot_interface.models.mission.task import TASKS, InspectionTask, MoveArm
 
 
 class SchedulingController:
@@ -45,12 +37,6 @@ class SchedulingController:
             title="Mission ID",
             description="ID-number for predefined mission",
         ),
-        return_pose: Optional[InputPose] = Body(
-            default=None,
-            description="End pose of the mission. The robot return to the specified "
-            "pose after finishing all inspections",
-            embed=True,
-        ),
     ) -> StartMissionResponse:
         self.logger.info(f"Received request to start mission with id {mission_id}")
 
@@ -58,9 +44,6 @@ class SchedulingController:
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         mission: Mission = self.scheduling_utilities.get_mission(mission_id)
-        if return_pose:
-            pose: Pose = return_pose.to_alitra_pose()
-            mission.tasks.append(ReturnToHome(pose=pose))
 
         self.scheduling_utilities.verify_robot_capable_of_mission(
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
@@ -80,12 +63,6 @@ class SchedulingController:
             title="Mission Definition",
             description="Description of the mission in json format",
         ),
-        return_pose: Optional[InputPose] = Body(
-            default=None,
-            description="End pose of the mission. The robot return to the specified "
-            "pose after finishing all inspections",
-            embed=True,
-        ),
     ) -> StartMissionResponse:
         self.logger.info("Received request to start new mission")
 
@@ -103,7 +80,7 @@ class SchedulingController:
 
         try:
             mission: Mission = to_isar_mission(
-                start_mission_definition=mission_definition, return_pose=return_pose
+                start_mission_definition=mission_definition
             )
         except MissionPlannerError as e:
             error_message = f"Bad Request - Cannot create ISAR mission: {e}"

{isar-1.26.0 → isar-1.26.1}/src/isar/config/settings.py

@@ -51,7 +51,7 @@ class Settings(BaseSettings):
     # Determines the number of state transitions that are kept in the log
     STATE_TRANSITIONS_LOG_LENGTH: int = Field(default=20)
 
-    # Number of attempts to initiate a task or mission before cancelling
+    # Number of attempts to initiate a mission before cancelling
     INITIATE_FAILURE_COUNTER_LIMIT: int = Field(default=10)
 
     # Number of attempts to request a task status in monitor before cancelling

isar-1.26.1/src/isar/models/communication/queues/events.py

@@ -0,0 +1,57 @@
+from queue import Queue
+
+from transitions import State
+
+from isar.config.settings import settings
+from isar.models.communication.queues.queue_io import QueueIO
+from isar.models.communication.queues.status_queue import StatusQueue
+from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.status import RobotStatus, TaskStatus
+from robot_interface.models.mission.task import TASKS
+
+
+class Events:
+    def __init__(self) -> None:
+        self.api_requests: APIRequests = APIRequests()
+        self.state_machine_events: StateMachineEvents = StateMachineEvents()
+        self.robot_service_events: RobotServiceEvents = RobotServiceEvents()
+
+        self.upload_queue: Queue = Queue(maxsize=10)
+
+        if settings.MQTT_ENABLED:
+            self.mqtt_queue: Queue = Queue()
+
+
+class APIRequests:
+    def __init__(self) -> None:
+        self.start_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.stop_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.pause_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.resume_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+
+
+class StateMachineEvents:
+    def __init__(self) -> None:
+        self.start_mission: Queue[Mission] = Queue(maxsize=1)
+        self.stop_mission: Queue[bool] = Queue(maxsize=1)
+        self.pause_mission: Queue[bool] = Queue(maxsize=1)
+        self.task_status_request: Queue[str] = Queue(maxsize=1)
+
+
+class RobotServiceEvents:
+    def __init__(self) -> None:
+        self.task_status_updated: Queue[TaskStatus] = Queue(maxsize=1)
+        self.task_status_failed: Queue[ErrorMessage] = Queue(maxsize=1)
+        self.mission_started: Queue[bool] = Queue(maxsize=1)
+        self.mission_failed: Queue[ErrorMessage] = Queue(maxsize=1)
+        self.robot_status_changed: Queue[bool] = Queue(maxsize=1)
+        self.mission_failed_to_stop: Queue[ErrorMessage] = Queue(maxsize=1)
+        self.mission_successfully_stopped: Queue[bool] = Queue(maxsize=1)
+
+
+class SharedState:
+    def __init__(self) -> None:
+        self.state: StatusQueue[State] = StatusQueue()
+        self.robot_status: StatusQueue[RobotStatus] = StatusQueue()
+        self.state_machine_current_task: StatusQueue[TASKS] = StatusQueue()

isar-1.26.1/src/isar/models/communication/queues/queue_utils.py

@@ -0,0 +1,32 @@
+from queue import Empty, Queue
+from typing import Optional, TypeVar
+
+from isar.models.communication.queues.status_queue import StatusQueue
+
+T = TypeVar("T")
+
+
+def trigger_event_without_data(queue: Queue[bool]) -> None:
+    queue.put(True)
+
+
+def trigger_event(queue: Queue[T], data: T) -> None:
+    queue.put(data)
+
+
+def check_shared_state(queue: StatusQueue[T]) -> Optional[T]:
+    try:
+        return queue.check()
+    except Empty:
+        return None
+
+
+def update_shared_state(queue: StatusQueue[T], data: T) -> None:
+    queue.update(data)
+
+
+def check_for_event(queue: Queue[T]) -> Optional[T]:
+    try:
+        return queue.get(block=False)
+    except Empty:
+        return None

{isar-1.26.0 → isar-1.26.1}/src/isar/models/communication/queues/status_queue.py

@@ -1,20 +1,22 @@
 from collections import deque
 from queue import Empty, Queue
-from typing import Any
+from typing import TypeVar
 
+T = TypeVar("T")
 
-class StatusQueue(Queue):
+
+class StatusQueue(Queue[T]):
     def __init__(self) -> None:
         super().__init__()
 
-    def check(self) -> Any:
+    def check(self) -> T:
         if not self._qsize():
             raise Empty
         with self.mutex:
             queueList = list(self.queue)
             return queueList.pop()
 
-    def update(self, item: Any):
+    def update(self, item: T):
         with self.mutex:
-            self.queue = deque()
+            self.queue: deque[T] = deque()
             self.queue.append(item)

{isar-1.26.0 → isar-1.26.1}/src/isar/modules.py

@@ -16,7 +16,7 @@ from isar.mission_planner.local_planner import LocalPlanner
 from isar.mission_planner.mission_planner_interface import MissionPlannerInterface
 from isar.mission_planner.sequential_task_selector import SequentialTaskSelector
 from isar.mission_planner.task_selector_interface import TaskSelectorInterface
-from isar.models.communication.queues.queues import Queues
+from isar.models.communication.queues.events import Events, SharedState
 from isar.services.service_connections.request_handler import RequestHandler
 from isar.services.utilities.robot_utilities import RobotUtilities
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
@@ -76,11 +76,18 @@ class RobotModule(Module):
         return robot_interface.Robot()  # type: ignore
 
 
-class QueuesModule(Module):
+class EventsModule(Module):
     @provider
     @singleton
-    def provide_queues(self) -> Queues:
-        return Queues()
+    def provide_events(self) -> Events:
+        return Events()
+
+
+class SharedStateModule(Module):
+    @provider
+    @singleton
+    def provide_shared_state(self) -> SharedState:
+        return SharedState()
 
 
 class RequestHandlerModule(Module):
@@ -125,13 +132,15 @@ class StateMachineModule(Module):
     @singleton
     def provide_state_machine(
         self,
-        queues: Queues,
+        events: Events,
+        shared_state: SharedState,
         robot: RobotInterface,
         mqtt_client: MqttClientInterface,
         task_selector: TaskSelectorInterface,
     ) -> StateMachine:
         return StateMachine(
-            queues=queues,
+            events=events,
+            shared_state=shared_state,
             robot=robot,
             mqtt_publisher=mqtt_client,
             task_selector=task_selector,
@@ -143,12 +152,12 @@ class UploaderModule(Module):
     @singleton
     def provide_uploader(
         self,
-        queues: Queues,
+        events: Events,
         storage_handlers: List[StorageInterface],
         mqtt_client: MqttClientInterface,
     ) -> Uploader:
         return Uploader(
-            queues=queues,
+            events=events,
             storage_handlers=storage_handlers,
             mqtt_publisher=mqtt_client,
         )
@@ -158,9 +167,12 @@ class SchedulingUtilitiesModule(Module):
     @provider
     @singleton
     def provide_scheduling_utilities(
-        self, queues: Queues, mission_planner: MissionPlannerInterface
+        self,
+        events: Events,
+        shared_state: SharedState,
+        mission_planner: MissionPlannerInterface,
     ) -> SchedulingUtilities:
-        return SchedulingUtilities(queues, mission_planner)
+        return SchedulingUtilities(events, shared_state, mission_planner)
 
 
 class RobotUtilitiesModule(Module):
@@ -180,9 +192,9 @@ class ServiceModule(Module):
 class MqttModule(Module):
     @provider
     @singleton
-    def provide_mqtt_client(self, queues: Queues) -> MqttClientInterface:
+    def provide_mqtt_client(self, events: Events) -> MqttClientInterface:
         if settings.MQTT_ENABLED:
-            return MqttPublisher(mqtt_queue=queues.mqtt_queue)
+            return MqttPublisher(mqtt_queue=events.mqtt_queue)
         return None
 
 
@@ -196,7 +208,8 @@ class SequentialTaskSelectorModule(Module):
 modules: Dict[str, Tuple[Module, Union[str, bool]]] = {
     "api": (APIModule, "required"),
     "authentication": (AuthenticationModule, "required"),
-    "queues": (QueuesModule, "required"),
+    "events": (EventsModule, "required"),
+    "shared_state": (SharedStateModule, "required"),
     "request_handler": (RequestHandlerModule, "required"),
     "robot_package": (RobotModule, settings.ROBOT_PACKAGE),
     "isar_id": (RobotModule, settings.ISAR_ID),

{isar-1.26.0 → isar-1.26.1}/src/isar/robot/robot.py

@@ -1,14 +1,20 @@
 import logging
+from queue import Queue
 from threading import Event
 from typing import Optional
 
 from injector import inject
 
-from isar.models.communication.queues.queue_io import QueueIO
+from isar.models.communication.queues.events import (
+    Events,
+    RobotServiceEvents,
+    SharedState,
+    StateMachineEvents,
+)
 from isar.models.communication.queues.queue_utils import check_for_event
-from isar.models.communication.queues.queues import Queues
 from isar.robot.robot_start_mission import RobotStartMissionThread
 from isar.robot.robot_status import RobotStatusThread
+from isar.robot.robot_stop_mission import RobotStopMissionThread
 from isar.robot.robot_task_status import RobotTaskStatusThread
 from robot_interface.robot_interface import RobotInterface
 
@@ -16,13 +22,18 @@ from robot_interface.robot_interface import RobotInterface
 class Robot(object):
 
     @inject
-    def __init__(self, queues: Queues, robot: RobotInterface):
+    def __init__(
+        self, events: Events, robot: RobotInterface, shared_state: SharedState
+    ):
         self.logger = logging.getLogger("robot")
-        self.queues: Queues = queues
+        self.state_machine_events: StateMachineEvents = events.state_machine_events
+        self.robot_service_events: RobotServiceEvents = events.robot_service_events
+        self.shared_state: SharedState = shared_state
         self.robot: RobotInterface = robot
         self.start_mission_thread: Optional[RobotStartMissionThread] = None
         self.robot_status_thread: Optional[RobotStatusThread] = None
         self.robot_task_status_thread: Optional[RobotTaskStatusThread] = None
+        self.stop_mission_thread_thread: Optional[RobotStopMissionThread] = None
         self.signal_thread_quitting: Event = Event()
 
     def stop(self) -> None:
@@ -39,12 +50,17 @@ class Robot(object):
             and self.robot_status_thread.is_alive()
         ):
             self.start_mission_thread.join()
+        if (
+            self.stop_mission_thread_thread is not None
+            and self.stop_mission_thread_thread.is_alive()
+        ):
+            self.stop_mission_thread_thread.join()
         self.robot_status_thread = None
         self.robot_task_status_thread = None
         self.start_mission_thread = None
 
-    def _check_and_handle_start_mission(self, queue: QueueIO) -> None:
-        start_mission = check_for_event(queue)
+    def _check_and_handle_start_mission(self, event: Queue) -> None:
+        start_mission = check_for_event(event)
         if start_mission is not None:
             if (
                 self.start_mission_thread is not None
@@ -55,24 +71,39 @@ class Robot(object):
                 )
                 self.start_mission_thread.join()
             self.start_mission_thread = RobotStartMissionThread(
-                self.queues,
+                self.robot_service_events,
                 self.robot,
                 self.signal_thread_quitting,
                 start_mission,
             )
             self.start_mission_thread.start()
 
-    def _check_and_handle_task_status_request(self, queue: QueueIO) -> None:
-        task_id = check_for_event(queue)
+    def _check_and_handle_task_status_request(self, event: Queue[str]) -> None:
+        task_id: str = check_for_event(event)
         if task_id:
             self.robot_task_status_thread = RobotTaskStatusThread(
-                self.queues, self.robot, self.signal_thread_quitting, task_id
+                self.robot_service_events,
+                self.robot,
+                self.signal_thread_quitting,
+                task_id,
             )
             self.robot_task_status_thread.start()
 
+    def _check_and_handle_stop_mission(self, event: Queue) -> None:
+        if check_for_event(event):
+            if (
+                self.stop_mission_thread_thread is not None
+                and self.start_mission_thread.is_alive()
+            ):
+                return
+            self.stop_mission_thread_thread = RobotStopMissionThread(
+                self.robot_service_events, self.robot, self.signal_thread_quitting
+            )
+            self.stop_mission_thread_thread.start()
+
     def run(self) -> None:
         self.robot_status_thread = RobotStatusThread(
-            self.queues, self.robot, self.signal_thread_quitting
+            self.robot, self.signal_thread_quitting, self.shared_state
         )
         self.robot_status_thread.start()
 
@@ -81,11 +112,13 @@ class Robot(object):
                 break
 
             self._check_and_handle_start_mission(
-                self.queues.state_machine_start_mission
+                self.state_machine_events.start_mission
             )
 
             self._check_and_handle_task_status_request(
-                self.queues.state_machine_task_status_request
+                self.state_machine_events.task_status_request
             )
 
+            self._check_and_handle_stop_mission(self.state_machine_events.stop_mission)
+
         self.logger.info("Exiting robot service main thread")