The Nim binding

The generated Nim module imports the core's C functions and native records through Nim's C backend. Functions return a status and copy results through pointers. CY_NONE means absent; CY_SHORT gives the required buffer size. check(robot, status) raises CoreError with the core's error text for negative statuses. Nim's style-insensitive names allow either cy_sensors_nearest or cySensorsNearest.

Install with make install SDK=/opt/clunkyard/sdk. Build with nim c -d:release --path:/opt/clunkyard/sdk/bindings/nim --out:bot bot.nim. The installed module resolves its core header and static library relative to its SDK directory. The artifact carries only the native executable.

Call run(turn, start) with callbacks receiving the core handle. start is optional. Exceptions are logged with their trace and the turn sends its controls already set. Raise Forfeit with its code field set to forfeit. play(lines, turn, start) uses a memory session for tests. The run loop recovers a core fault by sending the empty reply and reading the next state.

A tiny robot

import clunkyard
proc turn(robot:pointer)=
  var target:CyContact
  var heading:cdouble
  check(robot,cyMeHeading(robot,addr heading))
  if cySensorsNearest(robot,addr target)!=CY_OK:
    check(robot,cyDriveThrottle(robot,0.75));check(robot,cyDriveTurn(robot,0.25))
    check(robot,cyScannerHeading(robot,heading));check(robot,cyScannerArc(robot,40))
    var last:CyScan
    check(robot,cyScannerLast(robot,addr last))
    check(robot,cyStatusText(robot,"SEARCH",6));check(robot,cyStatusValue(robot,last.arc))
    return
  var power:cdouble
  var aim:CySolution
  check(robot,cyGunPowerForFlightTime(robot,target.range,1,addr power))
  if cyGunLead(robot,addr target,power,addr aim)!=CY_OK:aim.heading=target.bearing;aim.pitch=target.elevation
  check(robot,cyGunAimHeading(robot,aim.heading));check(robot,cyGunAimPitch(robot,aim.pitch))
  var canFire:cint
  check(robot,cyGunCanFire(robot,power,10,addr canFire))
  if canFire!=0:check(robot,cyGunFire(robot));check(robot,cyGunPower(robot,power))
  var delta,control:cdouble
  check(robot,cyAnglesAngleDiff(target.bearing,heading,addr delta));check(robot,cyAnglesClamp(delta,-1,1,addr control))
  check(robot,cyDriveThrottle(robot,0.5));check(robot,cyDriveTurn(robot,control))
  check(robot,cyScannerHeading(robot,target.bearing));check(robot,cyScannerArc(robot,10))
  check(robot,cyStatusText(robot,"TRACK",5));check(robot,cyStatusValue(robot,target.range))
run(turn)

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

Names

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

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