The Haskell binding

Clunkyard provides the core's C functions as Haskell IO actions, native record types with generated Storable instances and camel case names such as cySensorsNearest. Functions return a status and copy values through pointers. check robot status throws CoreError for a negative status; query robot action copies a required result and optional robot action returns Nothing for cyNone.

Install with make install SDK=/opt/clunkyard/sdk. Compile with ghc -O2 -i/opt/clunkyard/sdk/bindings/haskell -odir build -hidir build bot.hs /opt/clunkyard/sdk/lib/libclunkyard.a -lpthread -ldl -lm -o bot. Create build first. The core links statically; only the executable goes in the robot artifact.

run onTurn onStart owns the protocol loop and closes the session. Both callbacks receive the core handle; use const (pure ()) when no start hook is needed. Exceptions are logged and the turn sends controls already set. Throw Forfeit code message for an explicit forfeit. A core fault sends the empty reply and continues. play lines onTurn onStart returns the replies from a memory session. withText scopes a UTF-8 text pointer and byte count.

A tiny robot

module Main where
import Clunkyard
import Foreign
import Control.Monad
turnBot robot = do
  target <- optional robot (cySensorsNearest robot)
  heading <- query robot (cyMeHeading robot)
  case target of
    Nothing -> do
      cyDriveThrottle robot 0.75 >>= check robot
      cyDriveTurn robot 0.25 >>= check robot
      cyScannerHeading robot heading >>= check robot
      cyScannerArc robot 40 >>= check robot
      lastScan <- query robot (cyScannerLast robot)
      withText "SEARCH" (cyStatusText robot) >>= check robot
      cyStatusValue robot (scanArc lastScan) >>= check robot
    Just t -> do
      power <- query robot (cyGunPowerForFlightTime robot (contactRange t) 1)
      lead <- with t $ \contact -> optional robot (cyGunLead robot contact power)
      let (aimHeading,aimPitch) = maybe (contactBearing t,contactElevation t) (\s -> (solutionHeading s,solutionPitch s)) lead
      cyGunAimHeading robot aimHeading >>= check robot
      cyGunAimPitch robot aimPitch >>= check robot
      canFire <- query robot (cyGunCanFire robot power 10)
      when (canFire /= 0) $ do
        cyGunFire robot >>= check robot
        cyGunPower robot power >>= check robot
      delta <- query robot (cyAnglesAngleDiff (contactBearing t) heading)
      control <- query robot (cyAnglesClamp delta (-1) 1)
      cyDriveThrottle robot 0.5 >>= check robot
      cyDriveTurn robot control >>= check robot
      cyScannerHeading robot (contactBearing t) >>= check robot
      cyScannerArc robot 10 >>= check robot
      withText "TRACK" (cyStatusText robot) >>= check robot
      cyStatusValue robot (contactRange t) >>= check robot
main = run turnBot (const (pure ()))

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

Names

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

Download this page as Markdown