The Fortran binding

The generated clunkyard module uses ISO_C_BINDING for the core's C ABI. Records are interoperable derived types, enums are integer constants, and procedures return statuses and copy results into the caller's variables. CY_NONE means absent; negative statuses are errors. cy_last_error gives the error message. Text is UTF-8 with explicit byte lengths. A list takes an array, its capacity and a count; CY_SHORT gives the required capacity. The binding contains no protocol parser, tracker or physics implementation.

Install with make install SDK=/opt/clunkyard/sdk. Build with gfortran -std=f2018 -O2 -ffree-line-length-none -I/opt/clunkyard/sdk/bindings/fortran bot.f90 /opt/clunkyard/sdk/bindings/fortran/clunkyard.o /opt/clunkyard/sdk/lib/libclunkyard.a -lpthread -ldl -lm -o bot. Only the native executable is shipped in the artifact.

cy_open opens standard I/O and protects the protocol pipe. For tests, use cy_open_memory, cy_session_feed and cy_session_reply. Each successful cy_session_next reads a hello, state or end event. Send a reply with cy_session_send. After CY_E_INTERNAL, send the core's empty reply and continue; the next state recovers the session. cy_session_forfeit reports a robot forfeit.

A tiny robot

program tiny
use clunkyard
implicit none
type(c_ptr) :: robot
type(cy_contact) :: target
type(cy_solution) :: aim
type(cy_scan) :: last
integer(c_int32_t) :: status,event,can_fire
real(c_double) :: heading,power,delta,control
status=cy_open(2,0,'clunkyard-fortran',17,'2.0.0',5,robot)
do
  status=cy_session_next(robot,event)
  if(status==CY_E_INTERNAL)then
    status=cy_session_send(robot)
    if(status<0)exit
    cycle
  end if
  if(status/=CY_OK.or.event==CY_EVENT_END)exit
  if(event==CY_EVENT_STATE)then
    status=cy_me_heading(robot,heading)
    if(cy_sensors_nearest(robot,target)/=CY_OK)then
      status=cy_drive_throttle(robot,0.75_c_double);status=cy_drive_turn(robot,0.25_c_double)
      status=cy_scanner_heading(robot,heading);status=cy_scanner_arc(robot,40.0_c_double)
      status=cy_scanner_last(robot,last);status=cy_status_text(robot,'SEARCH',6);status=cy_status_value(robot,last%arc)
    else
      status=cy_gun_power_for_flight_time(robot,target%range,1.0_c_double,power)
      if(cy_gun_lead(robot,target,power,aim)/=CY_OK)then
        aim%heading=target%bearing;aim%pitch=target%elevation
      end if
      status=cy_gun_aim_heading(robot,aim%heading);status=cy_gun_aim_pitch(robot,aim%pitch)
      status=cy_gun_can_fire(robot,power,10.0_c_double,can_fire)
      if(can_fire/=0)then
        status=cy_gun_fire(robot);status=cy_gun_power(robot,power)
      end if
      status=cy_angles_angle_diff(target%bearing,heading,delta)
      status=cy_angles_clamp(delta,-1.0_c_double,1.0_c_double,control)
      status=cy_drive_throttle(robot,0.5_c_double);status=cy_drive_turn(robot,control)
      status=cy_scanner_heading(robot,target%bearing);status=cy_scanner_arc(robot,10.0_c_double)
      status=cy_status_text(robot,'TRACK',5);status=cy_status_value(robot,target%range)
    end if
  end if
  status=cy_session_send(robot)
end do
call cy_close(robot)
end program

make test calls every generated Fortran declaration against the core's conformance vectors. It verifies the foreign record layout and marshalling, exact floating-point results, optional values and serialized acts.

Names

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

Download this page as Markdown