/* -*- mode: C; c-basic-offset: 4 -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2012, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author(s): Neil T. Dantam <ntd@rice.edu>
 * Georgia Tech Humanoid Robotics Lab
 * Under Direction of Prof. Mike Stilman <mstilman@cc.gatech.edu>
 *
 *
 * This file is provided under the following "BSD-style" License:
 *
 *
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 *
 */


#include <pthread.h>
#include <signal.h>
#include <stdlib.h>
#include <stdio.h>
#include <assert.h>
#include <unistd.h>
#include <stdarg.h>
#include <string.h>
#include <time.h>
#include <errno.h>
#include <inttypes.h>
#include "ach.h"
#include "achutil.h"
#include "ach/private_posix.h"

void ach_pipe_set_size(ach_pipe_frame_t *frame, uint64_t size) {
    size_t i;
    for( i = 0; i < 8; i ++ )
        frame->size_bytes[i] = (size >> (8 * i)) & 0xFF;
}


uint64_t ach_pipe_get_size( const ach_pipe_frame_t *frame ) {
    uint64_t i;
    uint64_t size = 0;
    for( i = 0; i < 8; i ++ )
        size |= ((unsigned)frame->size_bytes[i] << (8 * i) );
    return size;
}

ach_pipe_frame_t *ach_pipe_alloc(size_t size) {
    ach_pipe_frame_t *p = (ach_pipe_frame_t *) malloc( sizeof(ach_pipe_frame_t) - 1 + size );
    memcpy(p->magic, "achpipe", 8);
    ach_pipe_set_size( p, size );
    return p;
}