diff --git a/aos/queue.h b/aos/queue.h
new file mode 100644
index 0000000..47f9503
--- /dev/null
+++ b/aos/queue.h
@@ -0,0 +1,228 @@
+#ifndef AOS_QUEUE_H_
+#define AOS_QUEUE_H_
+
+#include <assert.h>
+
+#include "aos/macros.h"
+#include "aos/linux_code/ipc_lib/queue.h"
+#include "aos/messages/message.h"
+
+namespace aos {
+
+template <class T> class Queue;
+
+// A ScopedMessagePtr<> manages a queue message pointer.
+// It frees it properly when the ScopedMessagePtr<> goes out of scope or gets
+// sent.  By design, there is no way to get the ScopedMessagePtr to release the
+// message pointer to external code.
+template <class T>
+class ScopedMessagePtr {
+ public:
+  // Returns a pointer to the message.
+  // This stays valid until Send or the destructor have been called.
+  const T *get() const { return msg_; }
+  T *get() { return msg_; }
+
+  const T &operator*() const {
+    const T *msg = get();
+    assert(msg != NULL);
+    return *msg;
+  }
+
+  T &operator*() {
+    T *msg = get();
+    assert(msg != NULL);
+    return *msg;
+  }
+
+  const T *operator->() const {
+    const T *msg = get();
+    assert(msg != NULL);
+    return msg;
+  }
+
+  T *operator->() {
+    T *msg = get();
+    assert(msg != NULL);
+    return msg;
+  }
+
+  operator bool() {
+    return msg_ != NULL;
+  }
+
+  // Sends the message and removes our reference to it.
+  // If the queue is full, over-ride the oldest message in it with our new
+  // message.
+  // Returns true on success, and false otherwise.
+  // The message will be freed.
+  bool Send();
+
+  // Sends the message and removes our reference to it.
+  // If the queue is full, block until it is no longer full.
+  // Returns true on success, and false otherwise.
+  // The message will be freed.
+  bool SendBlocking();
+
+  // Frees the contained message.
+  ~ScopedMessagePtr() {
+    reset();
+  }
+
+  // Implements a move constructor.  This only takes rvalue references
+  // because we want to allow someone to say
+  // ScopedMessagePtr<X> ptr = queue.MakeMessage();
+  // but we don't want to allow them to then say
+  // ScopedMessagePtr<X> new_ptr = ptr;
+  // And, if they do actually want to move the pointer, then it will correctly
+  // clear out the source so there aren't 2 pointers to the message lying
+  // around.
+  ScopedMessagePtr(ScopedMessagePtr<T> &&ptr)
+      : queue_(ptr.queue_), msg_(ptr.msg_) {
+    ptr.msg_ = NULL;
+  }
+
+ private:
+  // Provide access to set_queue and the constructor for init.
+  friend class aos::Queue<typename std::remove_const<T>::type>;
+  // Provide access to the copy constructor for MakeWithBuilder.
+  friend class aos::MessageBuilder<T>;
+
+  // Only Queue should be able to build a message.
+  ScopedMessagePtr(RawQueue *queue, T *msg)
+      : queue_(queue), msg_(msg) {}
+
+  // Sets the pointer to msg, freeing the old value if it was there.
+  // This is private because nobody should be able to get a pointer to a message
+  // that needs to be scoped without using the queue.
+  void reset(T *msg = NULL);
+
+  // Sets the queue that owns this message.
+  void set_queue(RawQueue *queue) { queue_ = queue; }
+
+  // The queue that the message is a part of.
+  RawQueue *queue_;
+  // The message or NULL.
+  T *msg_;
+
+  // Protect evil constructors.
+  DISALLOW_COPY_AND_ASSIGN(ScopedMessagePtr<T>);
+};
+
+// TODO(aschuh): Base class
+// T must be a Message with the same format as the messages generated by
+// the .q files.
+template <class T>
+class Queue {
+ public:
+  typedef T Message;
+
+  explicit Queue(const char *queue_name)
+      : queue_name_(queue_name), queue_(NULL), queue_msg_(NULL, NULL) {
+    static_assert(shm_ok<T>::value,
+                  "The provided message type can't be put in shmem.");
+  }
+
+  // Initializes the queue.  This may optionally be called to do any one time
+  // work before sending information, and may be be called multiple times.
+  // Init will be called when a message is sent, but this will cause sending to
+  // take a different amount of time the first cycle.
+  void Init();
+
+  // Removes all internal references to shared memory so shared memory can be
+  // restarted safely.  This should only be used in testing.
+  void Clear();
+
+  // Fetches the next message from the queue.
+  // Returns true if there was a new message available and we successfully
+  // fetched it.
+  bool FetchNext();
+
+  // Fetches the next message from the queue, waiting if necessary until there
+  // is one.
+  void FetchNextBlocking();
+
+  // Fetches the last message from the queue.
+  // Returns true if there was a new message available and we successfully
+  // fetched it.
+  bool FetchLatest();
+
+  // Fetches the latest message from the queue, or blocks if we have already
+  // fetched it until another is avilable.
+  void FetchAnother();
+
+  // Returns the age of the message.
+  const monotonic_clock::duration Age() const {
+    return monotonic_clock::now() - queue_msg_->sent_time;
+  }
+
+  bool IsNewerThan(const monotonic_clock::duration age) const {
+    return get() != nullptr && Age() < age;
+  }
+
+  // Returns a pointer to the current message.
+  // This pointer will be valid until a new message is fetched.
+  const T *get() const { return queue_msg_.get(); }
+
+  // Returns a reference to the message.
+  // The message will be valid until a new message is fetched.
+  const T &operator*() const {
+    const T *msg = get();
+    assert(msg != NULL);
+    return *msg;
+  }
+
+  // Returns a pointer to the current message.
+  // This pointer will be valid until a new message is fetched.
+  const T *operator->() const {
+    const T *msg = get();
+    assert(msg != NULL);
+    return msg;
+  }
+
+  // Returns a scoped_ptr containing a message.
+  // GCC will optimize away the copy constructor, so this is safe.
+  ScopedMessagePtr<T> MakeMessage();
+
+  // Returns a message builder that contains a pre-allocated message.
+  // This message will start out completely zeroed.
+  aos::MessageBuilder<T> MakeWithBuilder();
+
+  const char *name() const { return queue_name_; }
+
+ private:
+  const char *queue_name_;
+
+  T *MakeRawMessage();
+
+  // Pointer to the queue that this object fetches from.
+  RawQueue *queue_;
+  int index_ = 0;
+  // Scoped pointer holding the latest message or NULL.
+  ScopedMessagePtr<const T> queue_msg_;
+
+  DISALLOW_COPY_AND_ASSIGN(Queue<T>);
+};
+
+// Base class for all queue groups.
+class QueueGroup {
+ public:
+  // Constructs a queue group given its name and a unique hash of the name and
+  // type.
+  QueueGroup(const char *name, uint32_t hash) : name_(name), hash_(hash) {}
+
+  // Returns the name of the queue group.
+  const char *name() const { return name_.c_str(); }
+  // Returns a unique hash representing this instance of the queue group.
+  uint32_t hash() const { return hash_; }
+
+ private:
+  std::string name_;
+  uint32_t hash_;
+};
+
+}  // namespace aos
+
+#include "aos/linux_code/queue-tmpl.h"
+
+#endif  // AOS_QUEUE_H_