The OCaml binding

The generated OCaml API uses typed records and subsystem modules over compiled C stubs. Facts are functions of the robot handle, optional results are options, and controls take optional labelled arguments. Later controls merge with earlier ones in the same tick. Enum values are strings; an enum argument takes Some name, or None for the API's default.

Install with make install SDK=/opt/clunkyard/sdk. Build with ocamlopt -I /opt/clunkyard/sdk/bindings/ocaml -o bot /opt/clunkyard/sdk/bindings/ocaml/clunkyard.cmxa bot.ml, then run ./bot. The precompiled stubs link into the robot; the core remains the image's libclunkyard.so.2. No compiler is needed in the runtime image.

A tiny robot

open Clunkyard
let on_turn r =
  match Sensors.nearest r with
  | None ->
    Drive.set r ~throttle:0.75 ~turn:0.25 ();
    Scanner.set r ~heading:(Me.heading r) ~arc:40. ();
    Status.set r ~text:"SEARCH" ~value:(Scanner.last r).arc ()
  | Some target ->
    let power=Gun.power_for_flight_time r target.range 1. in
    (match Gun.lead r target power with
    | None -> Gun.aim r ~heading:target.bearing ~pitch:target.elevation ()
    | Some aim -> Gun.aim r ~heading:aim.heading ~pitch:aim.pitch ());
    if Gun.can_fire r power 10. then Gun.fire r ~power ();
    Drive.set r ~throttle:0.5 ~turn:(Angles.clamp (Angles.angle_diff target.bearing (Me.heading r)) (-1.) 1.) ();
    Scanner.set r ~heading:target.bearing ~arc:10. ();
    Status.set r ~text:"TRACK" ~value:target.range ()
let () = run ~on_turn ()

make test SDK=... checks the actual generated API against every core vector, including exact floating-point results and act lines. Core errors raise a language error carrying their status. A core fault during input sends its empty act and continues with the next state. User exceptions are logged and send the controls already set. Use the binding’s forfeit helper to give up a match; play runs protocol lines in memory for tests.

Names

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

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