Use status Error and state aborted for aborted missions

inorbit_edge_executor/behavior_tree.py

@@ -1422,7 +1422,7 @@ def build_tree_for_mission(self, context: BehaviorTreeBuilderContext) -> Behavio
         on_error.add_node(UnlockRobotNode(context, label="unlock robot after mission abort"))
         on_cancel = BehaviorTreeSequential(label="cancel handlers")
         on_cancel.add_node(
-            MissionAbortedNode(context, status=MissionStatus.ok, label="mission cancelled")
+            MissionAbortedNode(context, status=MissionStatus.error, label="mission cancelled")
         )
         on_cancel.add_node(UnlockRobotNode(context, label="unlock robot after mission cancel"))
         on_pause = BehaviorTreeSequential(label="pause handlers")

inorbit_edge_executor/datatypes.py

@@ -6,6 +6,7 @@
 
 Defines different types shared by various modules.
 """
+
 from enum import Enum
 from typing import Any
 from typing import Dict

inorbit_edge_executor/inorbit.py

@@ -73,6 +73,7 @@ class MissionState(Enum):
     completed = "completed"
     in_progress = "in-progress"
     paused = "paused"
+    aborted = "aborted"
     abandoned = "abandoned"
     starting = "starting"
 
@@ -349,10 +350,7 @@ async def abort(self, status: MissionStatus = MissionStatus.error):
         """Marks the mission as Aborted in Mission Tracking API"""
         try:
             req = {
-                # NOTE(herchu) State could be "aborted" but we have not defined it in
-                # https://docs.google.com/document/d/16KxmbmkiKhZ1IU_zkorJzZscMWFU2FrIJoTlenM8gwY ,
-                # so until then we use the one currently mapped from Actionlib's "ABORTED=4"
-                "state": str(MissionState.abandoned),
+                "state": str(MissionState.aborted),
                 "inProgress": False,
                 "tasks": self._build_tasks_list(),
                 "status": str(status),

inorbit_edge_executor/sqlite_backend.py

@@ -112,8 +112,7 @@ async def add_paused_field_migration(self):
             # NOTE (Elvio): Creating a new table here and migrating data to it because
             # in sqlite it's not possible to create a new "NOT NULL" field on already existing
             # table (paused column)
-            await cursor.execute(
-                f"""
+            await cursor.execute(f"""
                 CREATE TABLE {temp_missions_table} (
                   "mission_id"	TEXT,
                   "state"	TEXT,
@@ -122,14 +121,11 @@ async def add_paused_field_migration(self):
                   "paused"	BOOL NOT NULL,
                   PRIMARY KEY("mission_id")
                 );
-                """
-            )
-            await cursor.execute(
-                f"""
+            """)
+            await cursor.execute(f"""
                 INSERT INTO {temp_missions_table} (mission_id, state, finished, robot_id, paused)
                 SELECT mission_id, state, finished, robot_id, 0 FROM {missions_table};
-                """
-            )
+            """)
             await cursor.execute(f"DROP TABLE {missions_table};")
             await cursor.execute(f"ALTER TABLE {temp_missions_table} RENAME TO {missions_table};")
             # Commit the changes

pyproject.toml

@@ -33,7 +33,7 @@ dev = [
     "pytest~=8.4.1",
     "pytest-httpx~=0.35.0",
     "pytest-asyncio~=1.1.0",
-    "black~=25.1.0",
+    "black~=26.1",
     "bump-my-version~=1.2.1",
 ]
 docs = ["sphinx", "mkdocs"]

tests/test_behavior_tree.py

@@ -85,7 +85,7 @@ def test_bt_build_simple(inorbit_api):
                     "type": "MissionAbortedNode",
                     "state": "",
                     "label": "mission cancelled",
-                    "status": "OK",
+                    "status": "error",
                 },
                 {
                     "type": "UnlockRobotNode",

tox.ini

@@ -14,8 +14,8 @@ python =
     3.14: py314
 
 [testenv:lint]
-deps = black
-skip_install = true
+deps = black~=25.1.0
+skip_install = false
 commands =
     black --check --diff --line-length 100 inorbit_edge_executor tests example.py