The Dart binding

The Clunkyard robot API in Dart, directly over the core's C ABI through dart:ffi. Native signatures, records, enums and the public API are generated from protocol/v2/api.json. Only loading, the run loop and exception mapping are written by hand. Tracking, geometry, parsing and serialization stay in the core.

Install with make install SDK=/opt/clunkyard/sdk. Import package:clunkyard/clunkyard.dart. Compile with dart compile exe --packages=/opt/clunkyard/sdk/bindings/dart/package_config.json bot.dart -o bot. The executable loads libclunkyard.so.2, or the file named by CLUNKYARD_LIB; the library is supplied by the runtime image.

Subsystems and facts are properties. Calls use camelCase; optional results are null. Records have immutable fields and enums carry their protocol names. Controls take named fields and merge with earlier controls in the turn. drive.get('throttle') reads a pending field. Throw Forfeit(code, message) to forfeit. Other exceptions are logged with their trace and send the controls already set. play(robot, lines) plays lines in memory for tests.

A tiny robot

import 'package:clunkyard/clunkyard.dart';

class Tiny extends Robot {
  @override void onTurn(){
    final target=sensors.nearest;
    if(target==null){
      drive.set(throttle:0.75,turn:0.25);
      scanner.set(heading:me.heading,arc:40);
      status.set(text:'SEARCH',value:scanner.last.arc);
      return;
    }
    final power=gun.powerForFlightTime(target.range,1);
    final aim=gun.lead(target,power);
    gun.aim(heading:aim?.heading??target.bearing,pitch:aim?.pitch??target.elevation);
    if(gun.canFire(power,10))gun.fire(power:power);
    drive.set(throttle:0.5,turn:angles.clamp(angles.angleDiff(target.bearing,me.heading)));
    scanner.set(heading:target.bearing,arc:10);
    status.set(text:'TRACK',value:target.range);
  }
}
void main()=>run(Tiny());

make test SDK=... compares every representable API vector with the core's transcript, including exact floating-point bits and act lines. An unknown enum integer cannot be represented by Dart's enum type; such invalid calls are reported explicitly by the conformance test. The README robot also participates in the cross-language act identity check.

Names

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

Download this page as Markdown