The Julia binding

The Clunkyard robot API in Julia, directly over the core's C ABI through ccall. The API, native records and declarations are generated from protocol/v2/api.json. Only loading, the run loop and exception mapping are written by hand. Physics, tracking, parsing and serialization run in the core.

Install with make install SDK=/opt/clunkyard/sdk. Run with JULIA_LOAD_PATH=/opt/clunkyard/sdk/bindings/julia:@stdlib julia bot.jl. The hosted runtime's system image precompiles this package. Library symbols are resolved at process initialization, so it loads libclunkyard.so.2, or the file named by CLUNKYARD_LIB, even from a system image.

A Robot takes on_start and on_turn callbacks. Subsystems and facts are properties; calls use snake_case. Optional results are nothing, records have named fields and enums use symbols matching their protocol names. Controls take keyword fields and merge in the turn. drive.get("throttle") reads a pending field. Throw ClunkyardSDK.Forfeit(code, message) to forfeit; other exceptions are logged and send the controls already set. ClunkyardSDK.play(robot, lines) plays lines in memory for tests.

A tiny robot

using ClunkyardSDK
const cy=ClunkyardSDK
function turn(bot)
    target=bot.sensors.nearest
    if target===nothing
        bot.drive.set(throttle=0.75,turn=0.25)
        bot.scanner.set(heading=bot.me.heading,arc=40)
        bot.status.set(text="SEARCH",value=bot.scanner.last.arc)
        return
    end
    power=bot.gun.power_for_flight_time(target.range,1)
    aim=bot.gun.lead(target,power)
    heading,pitch=aim===nothing ? (target.bearing,target.elevation) : (aim.heading,aim.pitch)
    bot.gun.aim(heading=heading,pitch=pitch)
    bot.gun.can_fire(power,10) && bot.gun.fire(power=power)
    bot.drive.set(throttle=0.5,turn=bot.angles.clamp(bot.angles.angle_diff(target.bearing,bot.me.heading)))
    bot.scanner.set(heading=target.bearing,arc=10)
    bot.status.set(text="TRACK",value=target.range)
end
cy.run(cy.Robot(on_turn=turn))

make test SDK=... compares every API vector with the core's transcript, including exact floating-point bits and act lines. The README example also participates in the cross-language identity check.

Names

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

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