You can write Picrin's extension by yourself from both sides of C and Scheme. This page describes the way to control the interpreter from the C world.
Extension Library
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If you want to create a contribution library with C, the only thing you need to do is make a directory under contrib/. Below is a sample code of extension library.
When you use dynamic memory allocation inside C APIs, you must be caseful about Picrin's GC. Fortunately, we provides a set of wrapper functions for complete abstraction of GC. In the case below, the memory (de)allocators *create_foo* and *finalize_foo* are wrapped in pic_data object, so that when an instance of foo losts all references from others to it picrin can automatically finalize the orphan object.