Go to intervention needed when battery-low stop fails

Add StoppingGoToRecharge state that transitions to InterventionNeeded when stopping the mission fails due to low battery, instead of silently ignoring the error.

Author: asotra

src/isar/state_machine/states/stopping_go_to_recharge.py

@@ -1,7 +1,7 @@
 from typing import TYPE_CHECKING, List
 
 import isar.state_machine.states.going_to_recharging as GoingToRecharging
-import isar.state_machine.states.monitor as Monitor
+import isar.state_machine.states.intervention_needed as InterventionNeeded
 from isar.eventhandlers.eventhandler import EventHandlerMapping, State, Transition
 from isar.models.events import EmptyMessage
 from isar.state_machine.states_enum import States
@@ -18,8 +18,10 @@ def __init__(self, state_machine: "StateMachine", mission_id: str):
 
         def _failed_stop_event_handler(
             error_message: ErrorMessage,
-        ) -> Transition[Monitor.Monitor]:
-            return Monitor.transition_with_existing_mission(mission_id)
+        ) -> Transition[InterventionNeeded.InterventionNeeded]:
+            return InterventionNeeded.transition(
+                "Failed to stop mission when battery was low"
+            )
 
         def _successful_stop_event_handler(
             successful_stop: EmptyMessage,

tests/isar/state_machine/states/test_monitor_state.py

@@ -14,6 +14,7 @@
 from isar.modules import ApplicationContainer
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.state_machine import StateMachine
+from isar.state_machine.states.intervention_needed import InterventionNeeded
 from isar.state_machine.states.monitor import Monitor
 from isar.state_machine.states.pausing import Pausing
 from isar.state_machine.states.resuming import Resuming
@@ -47,7 +48,7 @@ def _mock_robot_exception_with_message() -> RobotException:
     )
 
 
-def test_stopping_to_recharge_goes_to_monitor(
+def test_stopping_to_recharge_goes_to_intervention_needed(
     sync_state_machine: StateMachine,
 ) -> None:
     sync_state_machine.current_state = StoppingGoToRecharge(
@@ -62,10 +63,10 @@ def test_stopping_to_recharge_goes_to_monitor(
 
     transition = event_handler.handler(EmptyMessage())
 
-    assert sync_state_machine.events.mqtt_queue.empty()
-
     sync_state_machine.current_state = transition(sync_state_machine)
-    assert type(sync_state_machine.current_state) is Monitor
+
+    assert not sync_state_machine.events.mqtt_queue.empty()
+    assert type(sync_state_machine.current_state) is InterventionNeeded
 
 
 def test_transitioning_to_monitor_from_stopping_when_return_home_cancelled(