The Python binding

The Clunkyard robot API in Python, over the robot core's C ABI through ctypes (docs/design/robot-core.md, section 5.3). clunkyard/_api.py is generated by protocol/v2/codegen/bindings/python.js (make api); the run loop in clunkyard/__init__.py and the loader in clunkyard/_core.py are written by hand. docs/sdk/names.md gives every name.

• Install: make install SDK=/opt/clunkyard/sdk copies the package, compiled, into $(SDK)/bindings/python. It needs no compiler at run time.
• Run: PYTHONPATH=/opt/clunkyard/sdk/bindings/python python3 bot.py. The package loads libclunkyard.so.2 through the loader's cache, or the file CLUNKYARD_LIB names.
• Test: make test SDK=... runs the installed package against every API vector, exact against the core.

Subsystems are attributes of the robot (self.me, self.match, self.scanner.last); facts are properties and the rest are calls. A control sets only the fields given, so self.drive.set(turn=0.5) keeps the throttle, and self.drive.get("throttle") reads a field back. An absent result is None. cy.angles holds the angle helpers, the core's to the last bit. Raise cy.Forfeit(code, message) to forfeit; any other exception is logged with its trace and the turn answers with what it had set.

A tiny robot

import clunkyard as cy


class Tiny(cy.Robot):
    def on_turn(self):
        target = self.sensors.nearest
        if target is None:
            self.drive.set(throttle=0.75, turn=0.25)
            self.scanner.set(heading=self.me.heading, arc=40)
            self.status.set("SEARCH", self.scanner.last.arc)
            return
        power = self.gun.power_for_flight_time(target.range, 1)
        aim = self.gun.lead(target, power)
        if aim is None:
            self.gun.aim(target.bearing, target.elevation)
        else:
            self.gun.aim(aim.heading, aim.pitch)
        if self.gun.can_fire(power, 10):
            self.gun.fire(power)
        self.drive.set(throttle=0.5, turn=cy.angles.clamp(cy.angles.angle_diff(target.bearing, self.me.heading)))
        self.scanner.set(heading=target.bearing, arc=10)
        self.status.set("TRACK", target.range)


cy.run(Tiny())

Names

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

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