copied everything over from 2012 and removed all of the actual robot code except the drivetrain stuff
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4078 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/aos/aos_core.h b/aos/aos_core.h
new file mode 100644
index 0000000..13a427e
--- /dev/null
+++ b/aos/aos_core.h
@@ -0,0 +1,81 @@
+#ifndef _AOS_CORE_H_
+#define _AOS_CORE_H_
+
+#ifdef __VXWORKS__
+#include "WPILib/Task.h"
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef __VXWORKS__
+#include "aos/atom_code/ipc_lib/resource.h"
+#include "aos/atom_code/ipc_lib/shared_mem.h"
+#include "aos/atom_code/ipc_lib/queue.h"
+#ifdef __cplusplus
+}
+#include "aos/atom_code/init.h"
+extern "C" {
+#endif
+
+// A macro that runs a control loop using AOS_RUN on linux, and lets the user
+// register the control loop on the cRIO.
+#define AOS_RUN_LOOP AOS_RUN
+
+// A macro that will create an instance of the given class using
+// its default constructor and call Run() on it on the cRIO or the atom.
+// It will generate a main on the atom and a function that the build system links
+// in a call to on the cRIO.
+// NOTE: No ; after this macro, and it should be used at the file scope (NO NAMESPACES!).
+#define AOS_RUN(classname) int main() { \
+ aos::Init(); \
+ classname looper; /* on the stack to avoid eigen alignment issue */ \
+ looper.Run(); \
+ aos::Cleanup(); \
+}
+// Same as AOS_RUN, except uses aos::init_nrt instead of aos::init.
+#define AOS_RUN_NRT(classname) int main() { \
+ aos::InitNRT(); \
+ classname looper; /* on the stack to avoid eigen alignment issue */ \
+ looper.Run(); \
+ aos::Cleanup(); \
+}
+// Same as AOS_RUN, except passes args to the constructor.
+#define AOS_RUN_ARGS(classname, args...) int () { \
+ aos::Init(); \
+ classname looper(args); /* on the stack to avoid eigen alignment issue */ \
+ looper.Run(); \
+ aos::Cleanup(); \
+}
+
+#else // ifndef __VXWORKS__
+
+// The cRIO doesn't need to run the Run method. The cRIO main should register
+// all loops to get run.
+#define AOS_RUN_LOOP(classname) /* nop */
+
+#define AOS_RUN(classname) extern "C" void AOS_INITNAME() { \
+ classname *looper = new classname(); /* dynamically allocated because most (all?) Run functions store references */ \
+ looper->Run(); \
+}
+// Same as AOS_RUN, except it runs in a new Task (named name and at priority).
+// Calls both the constructor and Run in the new Task.
+#define AOS_RUN_FORK(classname, name, priority) \
+static void aos_init_(void *) { \
+ classname *looper = new classname(); /* dynamically allocated because most (all?) Run functions store references */ \
+ looper->Run(); \
+} \
+extern "C" void AOS_INITNAME() { \
+ (new Task(name, reinterpret_cast<FUNCPTR>(aos_init_), priority))->Start(); \
+}
+
+#endif // ifndef __VXWORKS__
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "aos/common/logging/logging.h"
+
+#endif