1 files changed, 101 insertions, 0 deletions
diff --git a/prism/util/pm_buffer.c b/prism/util/pm_buffer.c
new file mode 100644
index 0000000000..15cdef74f8
--- /dev/null
+++ b/prism/util/pm_buffer.c
@@ -0,0 +1,101 @@
+#include "yarp/util/yp_buffer.h"
+
+#define YP_BUFFER_INITIAL_SIZE 1024
+
+// Return the size of the yp_buffer_t struct.
+size_t
+yp_buffer_sizeof(void) {
+    return sizeof(yp_buffer_t);
+}
+
+// Initialize a yp_buffer_t with its default values.
+bool
+yp_buffer_init(yp_buffer_t *buffer) {
+    buffer->length = 0;
+    buffer->capacity = YP_BUFFER_INITIAL_SIZE;
+
+    buffer->value = (char *) malloc(YP_BUFFER_INITIAL_SIZE);
+    return buffer->value != NULL;
+}
+
+// Return the value of the buffer.
+char *
+yp_buffer_value(yp_buffer_t *buffer) {
+    return buffer->value;
+}
+
+// Return the length of the buffer.
+size_t
+yp_buffer_length(yp_buffer_t *buffer) {
+    return buffer->length;
+}
+
+// Append the given amount of space to the buffer.
+static inline void
+yp_buffer_append_length(yp_buffer_t *buffer, size_t length) {
+    size_t next_length = buffer->length + length;
+
+    if (next_length > buffer->capacity) {
+        do {
+            buffer->capacity *= 2;
+        } while (next_length > buffer->capacity);
+
+        buffer->value = realloc(buffer->value, buffer->capacity);
+    }
+
+    buffer->length = next_length;
+}
+
+// Append a generic pointer to memory to the buffer.
+static inline void
+yp_buffer_append(yp_buffer_t *buffer, const void *source, size_t length) {
+    yp_buffer_append_length(buffer, length);
+    memcpy(buffer->value + (buffer->length - length), source, length);
+}
+
+// Append the given amount of space as zeroes to the buffer.
+void
+yp_buffer_append_zeroes(yp_buffer_t *buffer, size_t length) {
+    yp_buffer_append_length(buffer, length);
+    memset(buffer->value + (buffer->length - length), 0, length);
+}
+
+// Append a string to the buffer.
+void
+yp_buffer_append_str(yp_buffer_t *buffer, const char *value, size_t length) {
+    yp_buffer_append(buffer, value, length);
+}
+
+// Append a list of bytes to the buffer.
+void
+yp_buffer_append_bytes(yp_buffer_t *buffer, const uint8_t *value, size_t length) {
+    yp_buffer_append(buffer, (const char *) value, length);
+}
+
+// Append a single byte to the buffer.
+void
+yp_buffer_append_u8(yp_buffer_t *buffer, uint8_t value) {
+    const void *source = &value;
+    yp_buffer_append(buffer, source, sizeof(uint8_t));
+}
+
+// Append a 32-bit unsigned integer to the buffer.
+void
+yp_buffer_append_u32(yp_buffer_t *buffer, uint32_t value) {
+    if (value < 128) {
+        yp_buffer_append_u8(buffer, (uint8_t) value);
+    } else {
+        uint32_t n = value;
+        while (n >= 128) {
+            yp_buffer_append_u8(buffer, (uint8_t) (n | 128));
+            n >>= 7;
+        }
+        yp_buffer_append_u8(buffer, (uint8_t) n);
+    }
+}
+
+// Free the memory associated with the buffer.
+void
+yp_buffer_free(yp_buffer_t *buffer) {
+    free(buffer->value);
+}