From ba441fed90d04dfdbb906495f1d2fc2a090419a0 Mon Sep 17 00:00:00 2001
From: Cameron Brown <me@cbrxyz.com>
Date: Sun, 3 Nov 2024 13:28:30 -0500
Subject: [PATCH] navigator_missions: Add autonomous mission for RobotX 2024

---
 .../navigator_missions/__init__.py            |  1 +
 .../navigator_missions/autonomous_2024.py     | 44 +++++++++++++++++++
 2 files changed, 45 insertions(+)
 create mode 100644 NaviGator/mission_control/navigator_missions/navigator_missions/autonomous_2024.py

diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/__init__.py b/NaviGator/mission_control/navigator_missions/navigator_missions/__init__.py
index 3d29fcf60..45b0133b3 100644
--- a/NaviGator/mission_control/navigator_missions/navigator_missions/__init__.py
+++ b/NaviGator/mission_control/navigator_missions/navigator_missions/__init__.py
@@ -1,6 +1,7 @@
 import mil_missions_core
 
 from . import pose_editor
+from .autonomous_2024 import Autonomous2024
 from .back_and_forth import BackAndForth
 from .circle import Circle
 from .circle_tower import CircleTower
diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/autonomous_2024.py b/NaviGator/mission_control/navigator_missions/navigator_missions/autonomous_2024.py
new file mode 100644
index 000000000..d1ff9007d
--- /dev/null
+++ b/NaviGator/mission_control/navigator_missions/navigator_missions/autonomous_2024.py
@@ -0,0 +1,44 @@
+from __future__ import annotations
+
+import asyncio
+
+import rospy
+
+from .docking import Docking
+from .entrance_gate2 import EntranceGate2
+from .navigation import Navigation
+from .navigator import NaviGatorMission
+from .scan_the_code import ScanTheCodeMission
+from .wildlife import Wildlife
+
+
+class Autonomous2024(NaviGatorMission):
+
+    # timeout (in secs)
+    TIMEOUT = 180
+
+    async def run_mission(self, mission_cls: type[NaviGatorMission], name: str):
+        rospy.loginfo(f"[autonomous] beginning {name}...")
+        try:
+            await asyncio.wait_for(mission_cls().run(""), self.TIMEOUT)
+        except asyncio.TimeoutError:
+            rospy.logwarn(f"[autonomous] ran out of time on {name}!")
+
+    async def run(self, args: str):
+        # Step 1: Entrance and exit gates
+        await self.run_mission(EntranceGate2, "entrance gate")
+
+        # Step 2: Scan the Code
+        await self.run_mission(ScanTheCodeMission, "scan the code")
+
+        # Step 3: Wildlife Mission
+        await self.run_mission(Wildlife, "wildlife")
+
+        # Step 4: Navigation Mission
+        await self.run_mission(Navigation, "navigation")
+
+        # Step 5: Dock Mission
+        await self.run_mission(Docking, "docking")
+
+        # Step 6: UAV Mission
+        pass