1 files changed, 51 insertions, 0 deletions
diff --git a/prism/util/pm_buffer.h b/prism/util/pm_buffer.h
new file mode 100644
index 0000000000..c388e8d5ce
--- /dev/null
+++ b/prism/util/pm_buffer.h
@@ -0,0 +1,51 @@
+#ifndef YARP_BUFFER_H
+#define YARP_BUFFER_H
+
+#include "yarp/defines.h"
+
+#include <assert.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+// A yp_buffer_t is a simple memory buffer that stores data in a contiguous
+// block of memory. It is used to store the serialized representation of a
+// YARP tree.
+typedef struct {
+    char *value;
+    size_t length;
+    size_t capacity;
+} yp_buffer_t;
+
+// Return the size of the yp_buffer_t struct.
+YP_EXPORTED_FUNCTION size_t yp_buffer_sizeof(void);
+
+// Initialize a yp_buffer_t with its default values.
+YP_EXPORTED_FUNCTION bool yp_buffer_init(yp_buffer_t *buffer);
+
+// Return the value of the buffer.
+YP_EXPORTED_FUNCTION char * yp_buffer_value(yp_buffer_t *buffer);
+
+// Return the length of the buffer.
+YP_EXPORTED_FUNCTION size_t yp_buffer_length(yp_buffer_t *buffer);
+
+// Append the given amount of space as zeroes to the buffer.
+void yp_buffer_append_zeroes(yp_buffer_t *buffer, size_t length);
+
+// Append a string to the buffer.
+void yp_buffer_append_str(yp_buffer_t *buffer, const char *value, size_t 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);
+
+// Append a single byte to the buffer.
+void yp_buffer_append_u8(yp_buffer_t *buffer, uint8_t value);
+
+// Append a 32-bit unsigned integer to the buffer.
+void yp_buffer_append_u32(yp_buffer_t *buffer, uint32_t value);
+
+// Free the memory associated with the buffer.
+YP_EXPORTED_FUNCTION void yp_buffer_free(yp_buffer_t *buffer);
+
+#endif