update mission cancel

2026-06-15 10:30:00 +07:00
parent 6cc51a35c4
commit 4b372100eb
13 changed files with 922 additions and 134 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -12,5 +12,4 @@
 # Built Visual Studio Code Extensions
 *.vsix

-build/
-data/
+build/
--- a/data/mission_queue.json
+++ b/data/mission_queue.json
@@ -1,24 +1,664 @@
 {
  "queue": [
    {
-      "created_at": "2026-06-13T07:19:31Z",
-      "finished_at": "2026-06-13T07:19:32Z",
-      "id": "3a520bd342883c75",
+      "created_at": "2026-06-15T03:25:12Z",
+      "finished_at": "2026-06-15T03:26:42Z",
+      "id": "6732b109c5f13b8f",
      "log": [
        {
          "level": "info",
-          "message": "Loop 1/1",
-          "ts": "2026-06-13T07:19:31Z"
+          "message": "Loop endless (simulated, max 10000)",
+          "ts": "2026-06-15T03:25:12Z"
        },
        {
          "level": "info",
          "message": "Set PLC register (set_plc_register) simulated",
-          "ts": "2026-06-13T07:19:31Z"
+          "ts": "2026-06-15T03:25:12Z"
        },
        {
          "level": "info",
          "message": "Wait 1000ms",
-          "ts": "2026-06-13T07:19:31Z"
+          "ts": "2026-06-15T03:25:13Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:14Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:14Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:15Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:16Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:17Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:17Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:18Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:18Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:19Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:20Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:21Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:21Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:22Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:23Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:24Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:24Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:25Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:25Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:26Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:27Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:28Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:28Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:29Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:30Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:31Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:31Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:32Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:32Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:33Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:34Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:35Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:35Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:36Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:37Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:38Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:38Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:39Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:39Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:40Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:41Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:42Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:42Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:43Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:44Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:45Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:45Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:46Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:46Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:47Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:48Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:49Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:49Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:50Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:51Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:52Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:52Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:53Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:53Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:54Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:55Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:56Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:56Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:57Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:58Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:25:59Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:25:59Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:00Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:00Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:01Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:02Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:03Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:03Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:04Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:05Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:06Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:06Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:07Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:07Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:08Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:09Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:10Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:10Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:11Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:12Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:13Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:13Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:14Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:14Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:15Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:16Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:17Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:17Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:18Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:19Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:20Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:20Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:21Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:21Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:22Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:23Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:24Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:24Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:25Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:26Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:27Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:27Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:28Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:28Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:29Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:30Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:31Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:31Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:32Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:33Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:34Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:34Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:35Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:35Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:36Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:37Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:38Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:38Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:39Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:40Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:41Z"
+        },
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-15T03:26:41Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-15T03:26:42Z"
+        },
+        {
+          "level": "warn",
+          "message": "Mission hủy bởi operator",
+          "ts": "2026-06-15T03:26:42Z"
        }
      ],
      "mission": {
@@ -50,8 +690,8 @@
            "kind": "action",
            "label": "Loop",
            "params": {
-              "count": 1,
-              "mode": "count"
+              "count": 0,
+              "mode": "endless"
            },
            "type": "loop"
          }
@@ -60,7 +700,7 @@
        "group": "Missions",
        "id": "5ae9dbcb0722dffb",
        "name": "Test run",
-        "updated_at": "2026-06-13T07:19:17.185Z"
+        "updated_at": "2026-06-15T03:08:55.138Z"
      },
      "mission_group": "Missions",
      "mission_id": "5ae9dbcb0722dffb",
@@ -69,88 +709,16 @@
      "priority": 0,
      "robot_id": "default",
      "source": "ui",
-      "started_at": "2026-06-13T07:19:31Z",
-      "status": "completed"
-    },
-    {
-      "created_at": "2026-06-13T07:19:41Z",
-      "finished_at": "2026-06-13T07:19:43Z",
-      "id": "51de82d74cb4b1cd",
-      "log": [
-        {
-          "level": "info",
-          "message": "Loop 1/1",
-          "ts": "2026-06-13T07:19:41Z"
-        },
-        {
-          "level": "info",
-          "message": "Set PLC register (set_plc_register) simulated",
-          "ts": "2026-06-13T07:19:41Z"
-        },
-        {
-          "level": "info",
-          "message": "Wait 1000ms",
-          "ts": "2026-06-13T07:19:42Z"
-        }
-      ],
-      "mission": {
-        "actions": [
-          {
-            "children": [
-              {
-                "id": "c6c40563-0755-4e97-a48a-bb91ac8b0a9c",
-                "kind": "action",
-                "label": "Set PLC register",
-                "params": {
-                  "action": "set",
-                  "register": 1,
-                  "value": 0
-                },
-                "type": "set_plc_register"
-              },
-              {
-                "id": "a1",
-                "kind": "action",
-                "label": "Wait",
-                "params": {
-                  "seconds": 1
-                },
-                "type": "wait"
-              }
-            ],
-            "id": "65f3cf0b-73fa-4f51-8774-1c5d4c83d8c4",
-            "kind": "action",
-            "label": "Loop",
-            "params": {
-              "count": 1,
-              "mode": "count"
-            },
-            "type": "loop"
-          }
-        ],
-        "description": "",
-        "group": "Missions",
-        "id": "5ae9dbcb0722dffb",
-        "name": "Test run",
-        "updated_at": "2026-06-13T07:19:17.185Z"
-      },
-      "mission_group": "Missions",
-      "mission_id": "5ae9dbcb0722dffb",
-      "mission_name": "Test run",
-      "parameters": {},
-      "priority": 0,
-      "robot_id": "default",
-      "source": "ui",
-      "started_at": "2026-06-13T07:19:41Z",
-      "status": "completed"
+      "started_at": "2026-06-15T03:25:12Z",
+      "status": "cancelled"
    }
  ],
  "runner": {
    "current_action": null,
    "current_queue_id": null,
-    "message": "Hoàn thành: Test run",
+    "message": "Đã hủy: Test run",
    "paused": false,
    "state": "idle",
-    "updated_at": "2026-06-13T07:19:43Z"
+    "updated_at": "2026-06-15T03:26:42Z"
  }
 }
--- a/data/missions.json
+++ b/data/missions.json
@@ -40,8 +40,8 @@
          "kind": "action",
          "label": "Loop",
          "params": {
-            "count": 1,
-            "mode": "count"
+            "count": 0,
+            "mode": "endless"
          },
          "type": "loop"
        }
@@ -50,7 +50,7 @@
      "group": "Missions",
      "id": "5ae9dbcb0722dffb",
      "name": "Test run",
-      "updated_at": "2026-06-13T07:19:17.185Z"
+      "updated_at": "2026-06-15T03:08:55.138Z"
    },
    {
      "actions": [
--- a/scripts/test/smoke.sh
+++ b/scripts/test/smoke.sh
@@ -126,10 +126,37 @@ if [[ "$RUNNER_STATE" == "running" ]]; then
  assert_code "POST /api/mission_queue/continue" 200 "$TMP/cont.json" \
    -X POST "$BASE/api/mission_queue/continue"
  assert_json_true "runner not paused" "$TMP/cont.json" 'doc.get("state") != "paused"'
+  for _ in $(seq 1 15); do
+    curl -s "$BASE/api/mission_queue" -o "$TMP/runner_poll.json"
+    RUNNER_STATE="$(python3 -c "import json; print(json.load(open('$TMP/runner_poll.json')).get('runner',{}).get('state',''))")"
+    if [[ "$RUNNER_STATE" == "running" || "$RUNNER_STATE" == "paused" ]]; then
+      break
+    fi
+    sleep 0.2
+  done
+  if [[ "$RUNNER_STATE" == "running" || "$RUNNER_STATE" == "paused" ]]; then
+    assert_code "POST /api/mission_queue/cancel" 200 "$TMP/cancel.json" \
+      -X POST "$BASE/api/mission_queue/cancel"
+    for _ in $(seq 1 40); do
+      curl -s "$BASE/api/mission_queue" -o "$TMP/runner_poll.json"
+      RUNNER_STATE="$(python3 -c "import json; print(json.load(open('$TMP/runner_poll.json')).get('runner',{}).get('state',''))")"
+      if [[ "$RUNNER_STATE" == "idle" ]]; then
+        break
+      fi
+      sleep 0.15
+    done
+    assert_json_true "runner idle after cancel" "$TMP/runner_poll.json" \
+      'doc.get("runner",{}).get("state") == "idle"'
+  else
+    log_fail "runner not active for cancel test (skipped)"
+  fi
 else
  log_fail "runner never reached running (pause test skipped)"
 fi

+assert_code "POST /api/mission_queue/cancel idle" 400 "$TMP/cancel_idle.json" \
+  -X POST "$BASE/api/mission_queue/cancel"
+
 # --- LiDAR CRUD ---
 assert_code "POST /api/lidars" 201 "$TMP/lidar.json" \
  -X POST "$BASE/api/lidars" \
--- a/src/mission/mission_queue.cpp
+++ b/src/mission/mission_queue.cpp
@@ -12,6 +12,12 @@ namespace lm {

 namespace {

+class MissionCancelled : public std::runtime_error
+{
+public:
+  MissionCancelled() : std::runtime_error("mission cancelled") {}
+};
+
 std::string paramValue(const std::string& action_id,
                       const nlohmann::json& params,
                       const std::string& key,
@@ -319,6 +325,30 @@ bool MissionQueue::resume(std::string& err)
  return true;
 }

+bool MissionQueue::cancel(std::string& err)
+{
+  std::lock_guard<std::recursive_mutex> lock(mu_);
+  const std::string state = runner_.value("state", "idle");
+  if (state != "running" && state != "paused")
+  {
+    err = "no mission is running";
+    return false;
+  }
+  if (cancel_)
+  {
+    err = "cancel already in progress";
+    return false;
+  }
+  cancel_ = true;
+  paused_ = false;
+  runner_["paused"] = false;
+  runner_["message"] = "Đang hủy mission…";
+  runner_["updated_at"] = IdUtil::nowIso8601();
+  saveUnlocked();
+  wake_ = true;
+  return true;
+}
+
 void MissionQueue::workerLoop()
 {
  while (!stop_)
@@ -382,14 +412,17 @@ void MissionQueue::workerLoop()

 void MissionQueue::runMissionActions(nlohmann::json& entry)
 {
+  cancel_ = false;
+  nlohmann::json log = nlohmann::json::array();
  try
  {
-    nlohmann::json log = nlohmann::json::array();
    const auto& mission = entry["mission"];
    const auto& parameters = entry["parameters"];
    const auto& actions =
        mission.contains("actions") && mission["actions"].is_array() ? mission["actions"] : nlohmann::json::array();
    executeActionsUnlocked(actions, parameters, log, 0);
+    if (cancel_)
+      throw MissionCancelled();
    entry["log"] = log;
    entry["status"] = "completed";
    entry["finished_at"] = IdUtil::nowIso8601();
@@ -399,6 +432,18 @@ void MissionQueue::runMissionActions(nlohmann::json& entry)
      saveUnlocked();
    }
  }
+  catch (const MissionCancelled&)
+  {
+    log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "warn"}, {"message", "Mission hủy bởi operator"}});
+    entry["log"] = log;
+    entry["status"] = "cancelled";
+    entry["finished_at"] = IdUtil::nowIso8601();
+    {
+      std::lock_guard<std::recursive_mutex> lock(mu_);
+      setRunnerState("idle", "Đã hủy: " + entry.value("mission_name", "Mission"));
+      saveUnlocked();
+    }
+  }
  catch (...)
  {
    entry["status"] = "failed";
@@ -409,6 +454,7 @@ void MissionQueue::runMissionActions(nlohmann::json& entry)
      saveUnlocked();
    }
  }
+  cancel_ = false;
 }

 MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
@@ -423,10 +469,12 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
  {
    if (!action.is_object())
      continue;
-    while (paused_ && !stop_)
+    while (paused_ && !stop_ && !cancel_)
      std::this_thread::sleep_for(std::chrono::milliseconds(100));
    if (stop_)
      return LoopControl::None;
+    if (cancel_)
+      throw MissionCancelled();

    const std::string action_id = action.value("id", "");
    const std::string kind = action.value("kind", "action");
@@ -478,7 +526,7 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
      const auto& children =
          action.contains("children") && action["children"].is_array() ? action["children"] : nlohmann::json::array();
      const int iterations = mode == "endless" ? 10000 : std::max(1, count);
-      for (int i = 0; i < iterations && !stop_; ++i)
+      for (int i = 0; i < iterations && !stop_ && !cancel_; ++i)
      {
        if (mode == "endless" && i == 0)
        {
@@ -497,6 +545,8 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
          break;
        if (ctrl == LoopControl::Continue)
          continue;
+        if (cancel_)
+          throw MissionCancelled();
      }
      continue;
    }
@@ -506,6 +556,8 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
      const int ms = static_cast<int>(paramNumber(params, "seconds", 1) * 1000);
      log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", "Wait " + std::to_string(ms) + "ms"}});
      sleepMs(ms);
+      if (cancel_)
+        throw MissionCancelled();
      continue;
    }

@@ -516,6 +568,8 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
                     {"level", "info"},
                     {"message", label + " → " + (pos.empty() ? "?" : pos)}});
      sleepMs(1200);
+      if (cancel_)
+        throw MissionCancelled();
      continue;
    }

@@ -526,6 +580,8 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
                     {"level", "info"},
                     {"message", label + " → " + (marker.empty() ? "?" : marker)}});
      sleepMs(1200);
+      if (cancel_)
+        throw MissionCancelled();
      continue;
    }

@@ -534,6 +590,8 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
      const std::string message = params.value("message", "Mission step");
      log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "user"}, {"message", message}});
      sleepMs(200);
+      if (cancel_)
+        throw MissionCancelled();
      continue;
    }

@@ -541,12 +599,16 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
    {
      log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "warn"}, {"message", "Pause (simulated)"}});
      sleepMs(500);
+      if (cancel_)
+        throw MissionCancelled();
      continue;
    }

    log.push_back(
        {{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", label + " (" + type + ") simulated"}});
    sleepMs(400);
+    if (cancel_)
+      throw MissionCancelled();
  }
  return LoopControl::None;
 }
@@ -556,9 +618,9 @@ void MissionQueue::sleepMs(int ms)
  if (ms <= 0)
    return;
  const int step = 100;
-  for (int elapsed = 0; elapsed < ms && !stop_; elapsed += step)
+  for (int elapsed = 0; elapsed < ms && !stop_ && !cancel_; elapsed += step)
  {
-    while (paused_ && !stop_)
+    while (paused_ && !stop_ && !cancel_)
      std::this_thread::sleep_for(std::chrono::milliseconds(100));
    std::this_thread::sleep_for(std::chrono::milliseconds(std::min(step, ms - elapsed)));
  }
--- a/src/mission/mission_queue.hpp
+++ b/src/mission/mission_queue.hpp
@@ -29,6 +29,7 @@ public:
  bool reorder(const nlohmann::json& ordered_ids, std::string& err);
  bool pause(std::string& err);
  bool resume(std::string& err);
+  bool cancel(std::string& err);

 private:
  enum class LoopControl { None, Break, Continue };
@@ -42,6 +43,7 @@ private:
  std::atomic<bool> stop_{false};
  std::atomic<bool> wake_{false};
  std::atomic<bool> paused_{false};
+  std::atomic<bool> cancel_{false};

  void load();
  void saveUnlocked() const;
--- a/src/server/api_server.cpp
+++ b/src/server/api_server.cpp
@@ -526,6 +526,15 @@ void ApiServer::registerRoutes(httplib::Server& svr)
    res.body = mission_queue_.runnerStatus().dump();
  });

+  svr.Post("/api/mission_queue/cancel", [this](const httplib::Request&, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    std::string err;
+    if (!mission_queue_.cancel(err))
+      return HttpUtil::jsonError(res, 400, err);
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = mission_queue_.runnerStatus().dump();
+  });
+
  registerMissionRoutes(svr);
  registerIntegrationRoutes(svr);
  registerMirV2Routes(svr);
--- a/tests/pycache/test_api_integration.cpython-38-pytest-8.3.5.pyc
+++ b/tests/pycache/test_api_integration.cpython-38-pytest-8.3.5.pyc
--- a/tests/test_api_integration.py
+++ b/tests/test_api_integration.py
@@ -49,6 +49,29 @@ def mission_id(api):
    return resolve_mission_id(api)


+def clear_queue(api: requests.Session) -> None:
+    api.delete(f"{BASE}/api/mission_queue", timeout=TIMEOUT)
+
+
+def wait_runner_state(api: requests.Session, state: str, timeout: float = 8.0) -> dict:
+    deadline = time.time() + timeout
+    while time.time() < deadline:
+        runner = api.get(f"{BASE}/api/mission_queue", timeout=TIMEOUT).json().get("runner", {})
+        if runner.get("state") == state:
+            return runner
+        time.sleep(0.15)
+    pytest.fail(f"runner did not reach state {state!r} within {timeout}s")
+
+
+def enqueue_mission(api: requests.Session, mission_id: str) -> None:
+    r = api.post(
+        f"{BASE}/api/mission_queue",
+        json={"mission_id": mission_id},
+        timeout=TIMEOUT,
+    )
+    assert r.status_code == 201
+
+
 def test_health(api):
    r = api.get(f"{BASE}/api/health", timeout=TIMEOUT)
    assert r.status_code == 200
@@ -80,20 +103,9 @@ def test_mir_v2_enqueue_and_list(api, mission_id):


 def test_queue_pause_continue(api, mission_id):
-    api.delete(f"{BASE}/api/mission_queue", timeout=TIMEOUT)
-    api.post(
-        f"{BASE}/api/mission_queue",
-        json={"mission_id": mission_id},
-        timeout=TIMEOUT,
-    )
-    deadline = time.time() + 5
-    while time.time() < deadline:
-        runner = api.get(f"{BASE}/api/mission_queue", timeout=TIMEOUT).json().get("runner", {})
-        if runner.get("state") == "running":
-            break
-        time.sleep(0.2)
-    else:
-        pytest.skip("runner did not enter running state in time")
+    clear_queue(api)
+    enqueue_mission(api, mission_id)
+    wait_runner_state(api, "running", timeout=5)

    r = api.post(f"{BASE}/api/mission_queue/pause", timeout=TIMEOUT)
    assert r.status_code == 200
@@ -104,6 +116,48 @@ def test_queue_pause_continue(api, mission_id):
    assert r.json().get("state") != "paused"


+def test_queue_cancel_rejects_when_idle(api):
+    clear_queue(api)
+    r = api.post(f"{BASE}/api/mission_queue/cancel", timeout=TIMEOUT)
+    assert r.status_code == 400
+    body = r.json()
+    assert "error" in body
+
+
+def test_queue_cancel_stops_running_mission(api, mission_id):
+    clear_queue(api)
+    enqueue_mission(api, mission_id)
+    wait_runner_state(api, "running", timeout=5)
+
+    r = api.post(f"{BASE}/api/mission_queue/cancel", timeout=TIMEOUT)
+    assert r.status_code == 200
+    assert r.json().get("message")
+
+    wait_runner_state(api, "idle", timeout=8)
+    data = api.get(f"{BASE}/api/mission_queue", timeout=TIMEOUT).json()
+    assert data["runner"]["state"] == "idle"
+
+    cancelled = [item for item in data.get("queue", []) if item.get("status") == "cancelled"]
+    assert cancelled, "expected a cancelled queue entry"
+    assert cancelled[0].get("mission_id") == mission_id
+    log = cancelled[0].get("log") or []
+    assert any(entry.get("message") == "Mission hủy bởi operator" for entry in log if isinstance(entry, dict))
+
+
+def test_queue_cancel_rejects_while_cancelling(api, mission_id):
+    clear_queue(api)
+    enqueue_mission(api, mission_id)
+    wait_runner_state(api, "running", timeout=5)
+
+    first = api.post(f"{BASE}/api/mission_queue/cancel", timeout=TIMEOUT)
+    assert first.status_code == 200
+
+    second = api.post(f"{BASE}/api/mission_queue/cancel", timeout=TIMEOUT)
+    assert second.status_code == 400
+
+    wait_runner_state(api, "idle", timeout=8)
+
+
 def test_modbus_trigger_flow(api, mission_id):
    trig = api.post(
        f"{BASE}/api/triggers",
--- a/www/dashboard.js
+++ b/www/dashboard.js
@@ -131,7 +131,7 @@
          <label>Tiêu đề widget (tùy chọn)</label>
          <input data-field="title" type="text" value="${escapeHtml(widget.title || "")}" />
        </div>
-        <p class="mutedNote">Tạm dừng / tiếp tục mission đang chạy trên robot.</p>`;
+        <p class="mutedNote">Tạm dừng / tiếp tục / hủy mission đang chạy trên robot.</p>`;
    }
  }

@@ -206,9 +206,14 @@
    const paused = state === "paused" || snap?.runner?.paused;
    const running = state === "running" || paused;
    bodyEl.innerHTML = `
-      <button type="button" class="dashboardPauseBtn ${paused ? "is-paused" : ""}" data-pause-action="${paused ? "continue" : "pause"}" ${running ? "" : "disabled"}>
-        ${paused ? "Continue" : "Pause"}
-      </button>
+      <div class="dashboardRunnerControls">
+        <button type="button" class="dashboardPauseBtn ${paused ? "is-paused" : ""}" data-pause-action="${paused ? "continue" : "pause"}" ${running ? "" : "disabled"}>
+          ${paused ? "Continue" : "Pause"}
+        </button>
+        <button type="button" class="dashboardCancelBtn" data-cancel-mission ${running ? "" : "disabled"}>
+          Hủy mission
+        </button>
+      </div>
      <p class="mutedNote dashboardWidgetHint">${running ? (paused ? "Mission đang tạm dừng" : "Mission đang chạy") : "Không có mission đang chạy"}</p>`;
    bodyEl.querySelector("[data-pause-action]")?.addEventListener("click", async (evt) => {
      const action = evt.currentTarget.dataset.pauseAction;
@@ -219,6 +224,13 @@
        alert(e.message);
      }
    });
+    bodyEl.querySelector("[data-cancel-mission]")?.addEventListener("click", async () => {
+      try {
+        await missions()?.cancelRunner?.();
+      } catch (e) {
+        alert(e.message);
+      }
+    });
  }

  function renderWidget(widget) {
--- a/www/index.html
+++ b/www/index.html
@@ -547,7 +547,10 @@
                    <div class="cardTitle">Mission queue</div>
                    <div class="cardSub">Thêm mission bằng biểu tượng queue — robot chạy theo thứ tự từ trên xuống.</div>
                  </div>
-                  <button id="missionQueueClearBtn" type="button" class="btn subtle danger">Xóa queue</button>
+                  <div class="missionQueueCardActions">
+                    <button id="missionQueueCancelBtn" type="button" class="btn subtle danger" title="Hủy mission đang chạy">Hủy chạy</button>
+                    <button id="missionQueueClearBtn" type="button" class="btn subtle danger">Xóa queue</button>
+                  </div>
                </div>
                <div class="cardBody">
                  <div id="missionQueueRunner" class="missionQueueRunner mutedNote">—</div>
--- a/www/missions.js
+++ b/www/missions.js
@@ -473,6 +473,7 @@
      executing: "Đang chạy",
      completed: "Xong",
      failed: "Lỗi",
+      cancelled: "Đã hủy",
    };
    return map[status] || status;
  }
@@ -639,6 +640,12 @@
    await refreshQueue();
  }

+  async function cancelRunner() {
+    if (!confirm("Hủy mission đang chạy? (thoát loop và dừng ngay)")) return;
+    await missionApi("/api/mission_queue/cancel", { method: "POST", body: "{}" });
+    await refreshQueue();
+  }
+
  function openQueueDialog(missionId) {
    const mission = findMission(missionId);
    if (!mission) return;
@@ -850,15 +857,19 @@

      row.innerHTML = `
        <div class="missionDragHandle" draggable="true" title="Kéo để sắp xếp" aria-label="Kéo để sắp xếp">↕</div>
-        <div class="missionActionMain">
-          <div class="missionActionLabelRow">
-            <span class="missionActionIcon ${iconClass}">${iconChar}</span>
-            <span class="missionActionLabel">${escapeHtml(action.label)}</span>
+        <div class="missionActionTop">
+          <div class="missionActionMain">
+            <div class="missionActionLabelRow">
+              <span class="missionActionIcon ${iconClass}">${iconChar}</span>
+              <span class="missionActionLabel">${escapeHtml(action.label)}</span>
+            </div>
+            <div class="missionActionSummary">${escapeHtml(actionSummary(action))}</div>
          </div>
-          <div class="missionActionSummary">${escapeHtml(actionSummary(action))}</div>
-        </div>
-        <button type="button" class="iconBtn" data-config="${action.id}" title="Cấu hình">⚙</button>
-        <button type="button" class="iconBtn danger" data-remove="${action.id}" title="Xóa">×</button>`;
+          <div class="missionActionBtns">
+            <button type="button" class="iconBtn" data-config="${action.id}" title="Cấu hình">⚙</button>
+            <button type="button" class="iconBtn danger" data-remove="${action.id}" title="Xóa">×</button>
+          </div>
+        </div>`;

      if (action.type === "loop" && Array.isArray(action.children)) {
        const loop = document.createElement("div");
@@ -876,11 +887,15 @@
          renderActionRows(action.children, `${listPath}.${action.id}`, drop);
        }
        loop.appendChild(drop);
-        row.querySelector(".missionActionMain").appendChild(loop);
+        row.appendChild(loop);
      }

-      row.querySelector("[data-config]").addEventListener("click", () => openActionConfig(action.id));
-      row.querySelector("[data-remove]").addEventListener("click", () => {
+      row.querySelector("[data-config]").addEventListener("click", (evt) => {
+        evt.stopPropagation();
+        openActionConfig(action.id);
+      });
+      row.querySelector("[data-remove]").addEventListener("click", (evt) => {
+        evt.stopPropagation();
        removeActionFromTree(action.id);
        renderMissionEditor();
      });
@@ -1308,6 +1323,9 @@
    });

    el("missionQueueClearBtn")?.addEventListener("click", clearQueue);
+    el("missionQueueCancelBtn")?.addEventListener("click", () => {
+      cancelRunner().catch((e) => alert(e.message));
+    });
    el("missionQueueForm")?.addEventListener("submit", submitQueueDialog);
  }

@@ -1327,6 +1345,7 @@
    enqueueMission,
    pauseRunner,
    continueRunner,
+    cancelRunner,
    refreshQueue,
    clearQueue,
    getQueueSnapshot,
--- a/www/style.css
+++ b/www/style.css
@@ -622,6 +622,9 @@ canvas {
 .missionQueueStatus.executing { background: #dbeafe; color: #1d4ed8; }
 .missionQueueStatus.completed { background: #d1fae5; color: #047857; }
 .missionQueueStatus.failed { background: #fee2e2; color: #b91c1c; }
+.missionQueueStatus.cancelled { background: #f3f4f6; color: #6b7280; }
+.missionQueueItem.status-cancelled { opacity: 0.72; }
+.missionQueueCardActions { display: flex; gap: 8px; flex-wrap: wrap; }
 .missionQueueRunner {
  padding: 10px 12px;
  border-radius: 10px;
@@ -730,7 +733,7 @@ canvas {

 .missionActionRow {
  display: grid;
-  grid-template-columns: 32px 1fr auto auto;
+  grid-template-columns: 32px 1fr;
  gap: 10px;
  align-items: start;
  padding: 10px 12px;
@@ -739,6 +742,28 @@ canvas {
  background: #fff;
  box-shadow: 0 1px 0 rgba(15, 23, 42, 0.04);
 }
+.missionActionTop {
+  grid-column: 2;
+  display: flex;
+  align-items: flex-start;
+  gap: 8px;
+  min-width: 0;
+}
+.missionActionBtns {
+  display: flex;
+  gap: 6px;
+  flex-shrink: 0;
+  position: relative;
+  z-index: 2;
+}
+.missionLoopBlock {
+  grid-column: 2;
+  margin-top: 0;
+  border-radius: 10px;
+  border: 1px dashed rgba(124, 58, 237, 0.35);
+  background: rgba(124, 58, 237, 0.04);
+  padding: 10px;
+}
 .missionActionRow.dragging { opacity: 0.45; }
 .missionActionRow.dropBefore { box-shadow: inset 0 3px 0 var(--accent); }
 .missionActionRow.dropAfter { box-shadow: inset 0 -3px 0 var(--accent); }
@@ -789,13 +814,6 @@ canvas {
 .iconBtn:hover { border-color: rgba(37, 99, 235, 0.35); color: var(--accent); background: #eff6ff; }
 .iconBtn.danger:hover { border-color: rgba(239, 68, 68, 0.35); color: var(--danger); background: #fef2f2; }

-.missionLoopBlock {
-  margin-top: 10px;
-  border-radius: 10px;
-  border: 1px dashed rgba(124, 58, 237, 0.35);
-  background: rgba(124, 58, 237, 0.04);
-  padding: 10px;
-}
 .missionLoopLabel {
  font-size: 11px;
  font-weight: 700;
@@ -950,6 +968,21 @@ canvas {
 }
 .dashboardPauseBtn.is-paused { background: #ecfdf5; color: #047857; }
 .dashboardPauseBtn:disabled { opacity: 0.45; cursor: not-allowed; }
+.dashboardRunnerControls { display: grid; gap: 8px; }
+.dashboardCancelBtn {
+  appearance: none;
+  width: 100%;
+  border: 1px solid rgba(239, 68, 68, 0.35);
+  border-radius: 12px;
+  padding: 12px;
+  font-size: 14px;
+  font-weight: 700;
+  cursor: pointer;
+  background: #fef2f2;
+  color: #b91c1c;
+}
+.dashboardCancelBtn:hover:not(:disabled) { background: #fee2e2; }
+.dashboardCancelBtn:disabled { opacity: 0.45; cursor: not-allowed; }
 .dashboardInfoCard .dashboardInfoGrid { display: grid; gap: 8px; }
 .dashboardEmpty { text-align: center; padding: 12px 0 0; }