isar 1.33.7__tar.gz → 1.33.9__tar.gz

{isar-1.33.7 → isar-1.33.9}/.github/workflows/compile_requirements.yml

@@ -38,7 +38,7 @@ jobs:
           pip-compile --output-file=requirements.txt pyproject.toml --upgrade
 
       - name: Create Pull Request
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@271a8d0340265f705b14b6d32b9829c1cb33d45e #v7
         with:
           commit-message: "GHA: Update dependencies"
           title: Update dependencies

{isar-1.33.7 → isar-1.33.9}/.github/workflows/project_automations.yml

@@ -1,4 +1,10 @@
 name: Project automations
+
+permissions:
+  contents: read
+  issues: write
+  pull-requests: write
+
 on:
   issues:
     types:
@@ -19,7 +25,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'opened' || github.event.action == 'reopened'
     steps:
       - name: 'Move issue to "Todo"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -32,7 +38,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'closed'
     steps:
       - name: 'Moved issue to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -45,7 +51,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'opened' || github.event.action == 'reopened' || github.event.action == 'review_requested'
     steps:
       - name: 'Move PR to "In Progress"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -58,7 +64,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'ready_for_review'
     steps:
       - name: 'Move PR to "Review"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -71,7 +77,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'closed'
     steps:
       - name: 'Move PR to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor

{isar-1.33.7 → isar-1.33.9}/.github/workflows/pythonpackage.yml

@@ -1,5 +1,8 @@
 name: Python package
 
+permissions:
+  contents: read
+
 on:
   push:
     branches:

{isar-1.33.7 → isar-1.33.9}/.github/workflows/pythonpublish.yml

@@ -1,5 +1,8 @@
 name: Upload Python Package
 
+permissions:
+  contents: read
+
 on:
   release:
     types: [created]

{isar-1.33.7 → isar-1.33.9}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.7
+Version: 1.33.9
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -480,6 +480,7 @@ Enabling API authentication also requires the same environment variables. The re
 AZURE_CLIENT_ID
 AZURE_TENANT_ID
 AZURE_CLIENT_SECRET
+ISAR_BLOB_STORAGE_ACCOUNT
 ```
 
 ## MQTT communication

{isar-1.33.7 → isar-1.33.9}/README.md

@@ -336,6 +336,7 @@ Enabling API authentication also requires the same environment variables. The re
 AZURE_CLIENT_ID
 AZURE_TENANT_ID
 AZURE_CLIENT_SECRET
+ISAR_BLOB_STORAGE_ACCOUNT
 ```
 
 ## MQTT communication

{isar-1.33.7 → isar-1.33.9}/src/isar/config/settings.py

@@ -168,7 +168,7 @@ class Settings(BaseSettings):
     UPLOAD_INSPECTIONS_ASYNC: bool = Field(default=False)
 
     # URL to storage account for Azure Blob Storage
-    BLOB_STORAGE_ACCOUNT: str = Field(default="eqrobotdevstorage")
+    BLOB_STORAGE_ACCOUNT: str = Field(default="")
 
     # Name of blob container in Azure Blob Storage [slimm test]
     BLOB_CONTAINER: str = Field(default="test")

{isar-1.33.7 → isar-1.33.9}/src/isar/models/events.py

@@ -42,6 +42,8 @@ class Event(Queue[T]):
             if timeout is not None:
                 raise EventTimeoutError
             return None
+        except ValueError:
+            raise EventConflictError
 
     def clear_event(self) -> None:
         while True:
@@ -49,6 +51,8 @@ class Event(Queue[T]):
                 self.get(block=False)
             except Empty:
                 break
+            except ValueError:
+                break
 
     def has_event(self) -> bool:
         return (

isar-1.33.9/src/isar/models/status.py

@@ -0,0 +1,16 @@
+from enum import Enum
+
+
+class IsarStatus(Enum):
+    Available = "available"
+    ReturnHomePaused = "returnhomepaused"
+    Paused = "paused"
+    Busy = "busy"
+    Home = "home"
+    Offline = "offline"
+    BlockedProtectiveStop = "blockedprotectivestop"
+    ReturningHome = "returninghome"
+    InterventionNeeded = "interventionneeded"
+    Recharging = "recharging"
+    Lockdown = "lockdown"
+    GoingToLockdown = "goingtolockdown"

{isar-1.33.7 → isar-1.33.9}/src/isar/services/utilities/scheduling_utilities.py

@@ -94,6 +94,12 @@ class SchedulingUtilities:
                 status_code=HTTPStatus.INTERNAL_SERVER_ERROR,
                 detail="Could not plan mission",
             )
+        except Exception as e:
+            self.logger.error(e)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR,
+                detail="Could not return mission",
+            )
 
     def verify_robot_capable_of_mission(
         self, mission: Mission, robot_capabilities: List[str]
@@ -171,6 +177,10 @@ class SchedulingUtilities:
         ------
         HTTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not ready to receive a mission
+        HTTPException 500 Internal Server Error
+            If there is an unexpected error while sending the mission to the state machine
         """
         try:
             mission_start_response = self._send_command(
@@ -195,6 +205,14 @@ class SchedulingUtilities:
             )
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = (
+                f"Unexpected error while sending mission to state machine: {e}"
+            )
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
         self.logger.info("OK - Mission started in ISAR")
 
     def return_home(
@@ -206,6 +224,10 @@ class SchedulingUtilities:
         ------
         HTTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not ready to receive a return home mission
+        HTTPException 500 Internal Server Error
+            If there is an unexpected error while sending the return home command
         """
         try:
             self._send_command(
@@ -220,6 +242,12 @@ class SchedulingUtilities:
             error_message = "State machine has entered a state which cannot start a return home mission"
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = f"Unexpected error while sending return home command: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
         self.logger.info("OK - Return home mission started in ISAR")
 
     def pause_mission(self) -> ControlMissionResponse:
@@ -229,6 +257,8 @@ class SchedulingUtilities:
         ------
         HTTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not in a state which can pause a mission
         """
         try:
             response = self._send_command(True, self.api_events.pause_mission)
@@ -244,6 +274,12 @@ class SchedulingUtilities:
             )
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = f"Unexpected error while pausing mission: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def resume_mission(self) -> ControlMissionResponse:
         """Resume mission
@@ -252,6 +288,10 @@ class SchedulingUtilities:
         ------
         HTTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not in a state which can resume a mission
+        HTTPException 500 Internal Server Error
+            If there is an unexpected error while resuming the mission
         """
         try:
             response = self._send_command(True, self.api_events.resume_mission)
@@ -267,6 +307,12 @@ class SchedulingUtilities:
             raise HTTPException(
                 status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
             )
+        except Exception as e:
+            error_message = f"Unexpected error while resuming mission: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def stop_mission(self, mission_id: str = "") -> ControlMissionResponse:
         """Stop mission
@@ -279,6 +325,10 @@ class SchedulingUtilities:
             The request was understood, but attempting to stop the mission failed
         HTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not in a state which can stop a mission
+        HTTPException 500 Internal Server Error
+            If there is an unexpected error while stopping the mission
         """
         try:
             stop_mission_response: ControlMissionResponse = self._send_command(
@@ -293,7 +343,7 @@ class SchedulingUtilities:
                 )
 
             if stop_mission_response.mission_status != MissionStatus.Cancelled.value:
-                error_message = "Failed to stop mission"
+                error_message = f"Failed to stop mission, mission status is {stop_mission_response.mission_status}"
                 self.logger.error(error_message)
                 raise HTTPException(
                     status_code=HTTPStatus.CONFLICT, detail=error_message
@@ -308,6 +358,14 @@ class SchedulingUtilities:
             )
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except HTTPException as e:
+            raise e
+        except Exception as e:
+            error_message = f"Unexpected error while stopping mission: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
         self.logger.info("OK - Mission successfully stopped")
         return stop_mission_response
 
@@ -316,6 +374,10 @@ class SchedulingUtilities:
 
         Raises
         ------
+        HTTPException 409 Conflict
+            If the state machine is not in intervention needed state
+        HTTPException 408 Request timeout
+            If there is a timeout while communicating with the state machine
         HTTPException 500 Internal Server Error
             If the intervention needed state could not be released
         """
@@ -332,12 +394,22 @@ class SchedulingUtilities:
             error_message = "Cannot release intervention needed as it is not in intervention needed state"
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = (
+                f"Unexpected error while releasing intervention needed state: {e}"
+            )
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def lock_down_robot(self) -> None:
         """Lock down robot
 
         Raises
         ------
+        HTTPException 409 Conflict
+            If the state machine is not in a state which can be locked down
         HTTPException 500 Internal Server Error
             If the robot could not be locked down
         """
@@ -352,12 +424,20 @@ class SchedulingUtilities:
             error_message = "Cannot send robot to lockdown as it is already in lockdown"
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = f"Unexpected error while locking down robot: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def release_robot_lockdown(self) -> None:
         """Release robot from lockdown
 
         Raises
         ------
+        HTTPException 409 Conflict
+            If the state machine is not in lockdown
         HTTPException 500 Internal Server Error
             If the robot could not be released from lockdown
         """
@@ -376,6 +456,12 @@ class SchedulingUtilities:
             )
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = f"Unexpected error while releasing robot from lockdown: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def _send_command(self, input: T1, api_event: APIEvent[T1, T2]) -> T2:
         if api_event.request.has_event():

{isar-1.33.7 → isar-1.33.9}/src/isar/state_machine/state_machine.py

@@ -15,6 +15,7 @@ from isar.mission_planner.task_selector_interface import (
     TaskSelectorStop,
 )
 from isar.models.events import Events, SharedState
+from isar.models.status import IsarStatus
 from isar.services.service_connections.mqtt.mqtt_client import props_expiry
 from isar.state_machine.states.await_next_mission import AwaitNextMission
 from isar.state_machine.states.blocked_protective_stop import BlockedProtectiveStop
@@ -45,15 +46,15 @@ from robot_interface.models.exceptions.robot_exceptions import (
 )
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import RobotStatus, TaskStatus
+from robot_interface.models.mission.status import TaskStatus
 from robot_interface.models.mission.task import TASKS, InspectionTask, Task
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from robot_interface.telemetry.payloads import (
     InterventionNeededPayload,
+    IsarStatusPayload,
     MissionAbortedPayload,
     MissionPayload,
-    RobotStatusPayload,
     TaskPayload,
 )
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
@@ -213,6 +214,9 @@ class StateMachine(object):
             self.send_task_status()
 
     def battery_level_is_above_mission_start_threshold(self):
+        if not self.shared_state.robot_battery_level.check():
+            self.logger.warning("Battery level is None")
+            return False
         return (
             not self.shared_state.robot_battery_level.check()
             < settings.ROBOT_MISSION_BATTERY_START_THRESHOLD
@@ -367,7 +371,7 @@ class StateMachine(object):
         if not self.mqtt_publisher:
             return
 
-        payload: RobotStatusPayload = RobotStatusPayload(
+        payload: IsarStatusPayload = IsarStatusPayload(
             isar_id=settings.ISAR_ID,
             robot_name=settings.ROBOT_NAME,
             status=self._current_status(),
@@ -381,31 +385,31 @@ class StateMachine(object):
             retain=True,
         )
 
-    def _current_status(self) -> RobotStatus:
+    def _current_status(self) -> IsarStatus:
         if self.current_state == States.AwaitNextMission:
-            return RobotStatus.Available
+            return IsarStatus.Available
         elif self.current_state == States.ReturnHomePaused:
-            return RobotStatus.ReturnHomePaused
+            return IsarStatus.ReturnHomePaused
         elif self.current_state == States.Paused:
-            return RobotStatus.Paused
+            return IsarStatus.Paused
         elif self.current_state == States.Home:
-            return RobotStatus.Home
+            return IsarStatus.Home
         elif self.current_state == States.ReturningHome:
-            return RobotStatus.ReturningHome
+            return IsarStatus.ReturningHome
         elif self.current_state == States.Offline:
-            return RobotStatus.Offline
+            return IsarStatus.Offline
         elif self.current_state == States.BlockedProtectiveStop:
-            return RobotStatus.BlockedProtectiveStop
+            return IsarStatus.BlockedProtectiveStop
         elif self.current_state == States.InterventionNeeded:
-            return RobotStatus.InterventionNeeded
+            return IsarStatus.InterventionNeeded
         elif self.current_state == States.Recharging:
-            return RobotStatus.Recharging
+            return IsarStatus.Recharging
         elif self.current_state == States.Lockdown:
-            return RobotStatus.Lockdown
+            return IsarStatus.Lockdown
         elif self.current_state == States.GoingToLockdown:
-            return RobotStatus.GoingToLockdown
+            return IsarStatus.GoingToLockdown
         else:
-            return RobotStatus.Busy
+            return IsarStatus.Busy
 
     def _log_state_transition(self, next_state) -> None:
         """Logs all state transitions that are not self-transitions."""

{isar-1.33.7 → isar-1.33.9}/src/isar/state_machine/states/await_next_mission.py

@@ -27,12 +27,13 @@ class AwaitNextMission(EventHandlerBase):
             event: Event[bool],
         ) -> Optional[Callable]:
             should_lockdown: bool = event.consume_event()
-            if should_lockdown:
-                events.api_requests.send_to_lockdown.response.trigger_event(
-                    LockdownResponse(lockdown_started=True)
-                )
-                return state_machine.request_lockdown_mission  # type: ignore
-            return None
+            if not should_lockdown:
+                return None
+
+            events.api_requests.send_to_lockdown.response.trigger_event(
+                LockdownResponse(lockdown_started=True)
+            )
+            return state_machine.request_lockdown_mission  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.7 → isar-1.33.9}/src/isar/state_machine/states/going_to_lockdown.py

@@ -32,18 +32,19 @@ class GoingToLockdown(EventHandlerBase):
             event: Event[Optional[ErrorMessage]],
         ) -> Optional[Callable]:
             mission_failed: Optional[ErrorMessage] = event.consume_event()
-            if mission_failed is not None:
-                state_machine.logger.warning(
-                    f"Failed to initiate mission "
-                    f"{str(state_machine.current_mission.id)[:8]} because: "
-                    f"{mission_failed.error_description}"
-                )
-                state_machine.current_mission.error_message = ErrorMessage(
-                    error_reason=mission_failed.error_reason,
-                    error_description=mission_failed.error_description,
-                )
-                return state_machine.lockdown_mission_failed  # type: ignore
-            return None
+            if mission_failed is None:
+                return None
+
+            state_machine.logger.warning(
+                f"Failed to initiate mission "
+                f"{str(state_machine.current_mission.id)[:8]} because: "
+                f"{mission_failed.error_description}"
+            )
+            state_machine.current_mission.error_message = ErrorMessage(
+                error_reason=mission_failed.error_reason,
+                error_description=mission_failed.error_description,
+            )
+            return state_machine.lockdown_mission_failed  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.7 → isar-1.33.9}/src/isar/state_machine/states/home.py

@@ -22,12 +22,13 @@ class Home(EventHandlerBase):
 
         def _send_to_lockdown_event_handler(event: Event[bool]):
             should_send_robot_home: bool = event.consume_event()
-            if should_send_robot_home:
-                events.api_requests.send_to_lockdown.response.trigger_event(
-                    LockdownResponse(lockdown_started=True)
-                )
-                return state_machine.reached_lockdown  # type: ignore
-            return None
+            if not should_send_robot_home:
+                return None
+
+            events.api_requests.send_to_lockdown.response.trigger_event(
+                LockdownResponse(lockdown_started=True)
+            )
+            return state_machine.reached_lockdown  # type: ignore
 
         def _robot_status_event_handler(
             state_machine: "StateMachine",

{isar-1.33.7 → isar-1.33.9}/src/isar/state_machine/states/intervention_needed.py

@@ -17,12 +17,13 @@ class InterventionNeeded(EventHandlerBase):
         def release_intervention_needed_handler(
             event: Event[bool],
         ) -> Optional[Callable]:
-            if event.consume_event():
-                state_machine.events.api_requests.release_intervention_needed.response.trigger_event(
-                    True
-                )
-                return state_machine.release_intervention_needed  # type: ignore
-            return None
+            if not event.consume_event():
+                return None
+
+            state_machine.events.api_requests.release_intervention_needed.response.trigger_event(
+                True
+            )
+            return state_machine.release_intervention_needed  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.7 → isar-1.33.9}/src/isar/state_machine/states/lockdown.py

@@ -14,13 +14,14 @@ class Lockdown(EventHandlerBase):
 
         def _release_from_lockdown_handler(event: Event[bool]):
             should_release_from_lockdown: bool = event.consume_event()
-            if should_release_from_lockdown:
-                events.api_requests.release_from_lockdown.response.trigger_event(True)
-                if state_machine.battery_level_is_above_mission_start_threshold():
-                    return state_machine.release_from_lockdown  # type: ignore
-                else:
-                    return state_machine.starting_recharging  # type: ignore
-            return None
+            if not should_release_from_lockdown:
+                return None
+
+            events.api_requests.release_from_lockdown.response.trigger_event(True)
+            if state_machine.battery_level_is_above_mission_start_threshold():
+                return state_machine.release_from_lockdown  # type: ignore
+            else:
+                return state_machine.starting_recharging  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.7 → isar-1.33.9}/src/isar/state_machine/states/monitor.py

@@ -27,9 +27,10 @@ class Monitor(EventHandlerBase):
         shared_state = state_machine.shared_state
 
         def _pause_mission_event_handler(event: Event[bool]) -> Optional[Callable]:
-            if event.consume_event():
-                return state_machine.pause  # type: ignore
-            return None
+            if not event.consume_event():
+                return None
+
+            return state_machine.pause  # type: ignore
 
         def _handle_task_completed(task_status: TaskStatus):
             if state_machine.should_upload_inspections():
@@ -44,35 +45,38 @@ class Monitor(EventHandlerBase):
                 )
 
             state_machine.iterate_current_task()
-            if state_machine.current_task is None:
-                return state_machine.mission_finished  # type: ignore
-            return None
+            if state_machine.current_task is not None:
+                return None
+
+            return state_machine.mission_finished  # type: ignore
 
         def _robot_battery_level_updated_handler(
             event: Event[float],
         ) -> Optional[Callable]:
             battery_level: float = event.check()
-            if battery_level < settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
-                state_machine.publish_mission_aborted(
-                    "Robot battery too low to continue mission", True
-                )
-                state_machine._finalize()
-                state_machine.logger.warning(
-                    "Cancelling current mission due to low battery"
-                )
-                return state_machine.stop  # type: ignore
-            return None
+            if battery_level >= settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
+                return None
+
+            state_machine.publish_mission_aborted(
+                "Robot battery too low to continue mission", True
+            )
+            state_machine._finalize()
+            state_machine.logger.warning(
+                "Cancelling current mission due to low battery"
+            )
+            return state_machine.stop  # type: ignore
 
         def _send_to_lockdown_event_handler(
             event: Event[bool],
         ) -> Optional[Callable]:
             should_lockdown: bool = event.consume_event()
-            if should_lockdown:
-                state_machine.logger.warning(
-                    "Cancelling current mission due to robot going to lockdown"
-                )
-                return state_machine.stop_go_to_lockdown  # type: ignore
-            return None
+            if not should_lockdown:
+                return None
+
+            state_machine.logger.warning(
+                "Cancelling current mission due to robot going to lockdown"
+            )
+            return state_machine.stop_go_to_lockdown  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(