The D binding

The generated D module declares the core's extern(C) functions and native-layout records. Functions return a status and copy their results through pointers. CY_NONE means absent; CY_SHORT reports a buffer's required capacity. check(robot, status) throws CoreError for a negative status, with the core's error text. Plain names alias the latest record version. The binding contains no tracker, geometry or protocol implementation.

Install with make install SDK=/opt/clunkyard/sdk. Build with ldc2 -O -release -i=-clunkyard -I=. -I=/opt/clunkyard/sdk/bindings/d bot.d /opt/clunkyard/sdk/bindings/d/clunkyard.o /opt/clunkyard/sdk/lib/libclunkyard.a -L-lpthread -L-ldl -L-lm -of=bot. The image supplies the D runtime libraries; the core is statically linked.

Call run(turn, start) with delegates receiving the core handle. start is optional. Errors and exceptions are logged and the turn sends its controls already set. Throw Forfeit(code, message) to forfeit. play(lines, turn, start) uses an in-memory session for tests. The run loop recovers from a core fault by sending its empty reply and reading the next state.

A tiny robot

import clunkyard;
class Tiny {
  void turn(void*robot) {
    CyContact target;double heading;check(robot,cy_me_heading(robot,&heading));
    if(cy_sensors_nearest(robot,&target)!=CY_OK) {
      check(robot,cy_drive_throttle(robot,0.75));check(robot,cy_drive_turn(robot,0.25));
      check(robot,cy_scanner_heading(robot,heading));check(robot,cy_scanner_arc(robot,40));
      CyScan last;check(robot,cy_scanner_last(robot,&last));
      check(robot,cy_status_text(robot,"SEARCH".ptr,6));check(robot,cy_status_value(robot,last.arc));
      return;
    }
    double power;check(robot,cy_gun_power_for_flight_time(robot,target.range,1,&power));
    CySolution aim;if(cy_gun_lead(robot,&target,power,&aim)!=CY_OK){aim.heading=target.bearing;aim.pitch=target.elevation;}
    check(robot,cy_gun_aim_heading(robot,aim.heading));check(robot,cy_gun_aim_pitch(robot,aim.pitch));
    int canFire;check(robot,cy_gun_can_fire(robot,power,10,&canFire));
    if(canFire!=0){check(robot,cy_gun_fire(robot));check(robot,cy_gun_power(robot,power));}
    double delta,control;check(robot,cy_angles_angle_diff(target.bearing,heading,&delta));check(robot,cy_angles_clamp(delta,-1,1,&control));
    check(robot,cy_drive_throttle(robot,0.5));check(robot,cy_drive_turn(robot,control));
    check(robot,cy_scanner_heading(robot,target.bearing));check(robot,cy_scanner_arc(robot,10));
    check(robot,cy_status_text(robot,"TRACK".ptr,5));check(robot,cy_status_value(robot,target.range));
  }
}
void main(){auto robot=new Tiny;run(&robot.turn);}

make test checks every generated D declaration against the core's full conformance vectors, including foreign argument and record marshalling, exact floating-point results and serialized acts.

Names

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

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