Moved bot3 to y2015_bot3
Change-Id: Idebb248ddc3ff658f2404f367dfa4a6dc421e0c1
diff --git a/y2015_bot3/autonomous/auto_main.cc b/y2015_bot3/autonomous/auto_main.cc
new file mode 100644
index 0000000..1556561
--- /dev/null
+++ b/y2015_bot3/autonomous/auto_main.cc
@@ -0,0 +1,42 @@
+#include <stdio.h>
+
+#include "aos/common/time.h"
+#include "aos/linux_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "y2015_bot3/autonomous/auto.q.h"
+#include "y2015_bot3/autonomous/auto.h"
+
+using ::aos::time::Time;
+
+int main(int /*argc*/, char * /*argv*/[]) {
+ ::aos::Init();
+
+ LOG(INFO, "Auto main started\n");
+ ::y2015_bot3::autonomous::autonomous.FetchLatest();
+ while (!::y2015_bot3::autonomous::autonomous.get()) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+
+ while (true) {
+ while (!::y2015_bot3::autonomous::autonomous->run_auto) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+ LOG(INFO, "Starting auto mode\n");
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+ ::y2015_bot3::autonomous::HandleAuto();
+
+ ::aos::time::Time elapsed_time = ::aos::time::Time::Now() - start_time;
+ LOG(INFO, "Auto mode exited in %f, waiting for it to finish.\n",
+ elapsed_time.ToSeconds());
+ while (::y2015_bot3::autonomous::autonomous->run_auto) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+ LOG(INFO, "Waiting for auto to start back up.\n");
+ }
+ ::aos::Cleanup();
+ return 0;
+}
+