The FreeBASIC binding

#include once "clunkyard.bi" provides Cdecl declarations and native record types. Record fields have a _value suffix to avoid BASIC keywords. Functions return CY_ statuses and copy results through pointers; CY_NONE means absent and CY_SHORT gives the required buffer size. CyCheck(robot, status) writes the core's error text to standard error and exits on failure.

Install with make install SDK=/opt/clunkyard/sdk. Compile with fbc -O 2 -i /opt/clunkyard/sdk/bindings/basic bot.bas /opt/clunkyard/sdk/bindings/basic/clunkyard.o /opt/clunkyard/sdk/lib/libclunkyard.a -l pthread -l dl -l m -x bot. The core links statically; only the executable goes in the artifact.

CyRun(@Turn, @Start) owns the protocol loop; the start callback is optional. Both callbacks receive the core handle. CyPlay(lines(), @Turn, @Start) returns replies from a memory session. Call CyForfeit(robot, code, message) and exit the callback to forfeit. A core fault sends the empty reply and continues. FreeBASIC runtime errors terminate the process.

A tiny robot

#include once "clunkyard.bi"
Sub Turn(ByVal robot As Any Ptr)
    Dim target As CyContact, heading As Double
    CyCheck(robot, cy_me_heading(robot, @heading))
    If cy_sensors_nearest(robot, @target) <> CY_OK Then
        CyCheck(robot, cy_drive_throttle(robot, 0.75)): CyCheck(robot, cy_drive_turn(robot, 0.25))
        CyCheck(robot, cy_scanner_heading(robot, heading)): CyCheck(robot, cy_scanner_arc(robot, 40))
        Dim lastScan As CyScan
        CyCheck(robot, cy_scanner_last(robot, @lastScan))
        CyCheck(robot, cy_status_text(robot, "SEARCH", 6)): CyCheck(robot, cy_status_value(robot, lastScan.arc_value))
        Exit Sub
    End If
    Dim power As Double, aim As CySolution, canFire As Long, delta As Double, control As Double
    CyCheck(robot, cy_gun_power_for_flight_time(robot, target.range_value, 1, @power))
    If cy_gun_lead(robot, @target, power, @aim) <> CY_OK Then
        aim.heading_value = target.bearing_value: aim.pitch_value = target.elevation_value
    End If
    CyCheck(robot, cy_gun_aim_heading(robot, aim.heading_value)): CyCheck(robot, cy_gun_aim_pitch(robot, aim.pitch_value))
    CyCheck(robot, cy_gun_can_fire(robot, power, 10, @canFire))
    If canFire <> 0 Then
        CyCheck(robot, cy_gun_fire(robot)): CyCheck(robot, cy_gun_power(robot, power))
    End If
    CyCheck(robot, cy_angles_angle_diff(target.bearing_value, heading, @delta))
    CyCheck(robot, cy_angles_clamp(delta, -1, 1, @control))
    CyCheck(robot, cy_drive_throttle(robot, 0.5)): CyCheck(robot, cy_drive_turn(robot, control))
    CyCheck(robot, cy_scanner_heading(robot, target.bearing_value)): CyCheck(robot, cy_scanner_arc(robot, 10))
    CyCheck(robot, cy_status_text(robot, "TRACK", 5)): CyCheck(robot, cy_status_value(robot, target.range_value))
End Sub
CyRun(@Turn)

make test checks every generated declaration against the core's full conformance vectors, including typed foreign arguments, records, exact floating-point results and serialized acts.

Names

Every entry of the robot API 2.0.0 in FreeBASIC. names.md has every language side by side.

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