feat: Blueapi plan pause#1589
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## main #1589 +/- ##
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+ Coverage 95.93% 96.31% +0.37%
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…ead signals Route resume() and cancel_active_task() through the worker thread's signal queue instead of mutating state directly from the caller, so state stays consistent across pause/resume/cancel transitions. Includes tests and a fix for cancel_active_task() when the RunEngine is already in a paused state.
- Resolve a paused task before stopping the worker, instead of leaving the RunEngine paused and the task incomplete forever with no thread left to resolve it. - Apply the latest cancel_active_task() request while paused instead of a stale queued one. - Prevent a race between the caller thread and worker thread when recording a cancelled task's outcome.
racing the worker thread's own finalization, which could report a completed task with no result.
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Bluesky's RunEngine pauses via a RunEngineInterrupted, but blueapi was treating that exception like any other plan failure , pausing a task marked it as failed instead of leaving it resumable. On top of that, resume() and cancel_active_task() mutated RunEngine state directly from the calling thread, racing with the worker thread that owns it, which could leave a paused RunEngine stuck forever, apply a stale cancel, or double-set a task's outcome.