Python Template

Notion task.

The Python template used for translation of TXT scripts (aka, SG scripts) was externalized in Dial 2.1.2, such that it allows for any needed edits.

Template location

• Only one template is recognized, and we refer to this as the "global python template".
• The file name is GLOBAL_PYTHON_TEMPLATE.py, and expected to be under the configured Dial workspace. In the compaslabdev instance, this corresponds to: Sandbox/Dial/GLOBAL_PYTHON_TEMPLATE.py.
• If not yet existent, the file is automatically created (as a copy of an internal template).

Placeholders

According to the setup that has been used so far, the recognized placeholders can be summarized as follows:

Placeholder (schematic)	Description
{{TXT_CONTENT}}	The txt script itself
{{controlledAxes.*}}	Controlled access parameters
{{navParams.*}}	Navigation parameters
{{linearTwistMax/Min}}	Linear twist parameters

The concrete placeholders can be seen in the actual complete template:

##! Template for getting the resulting python version from a TXT script
##! and associated parameters, as captured in the Dial UI.
##! Lines starting with `##!` are not transferred to the python version.

from mission_script.context import *
from mission_script.nav import ScriptGoal, NavigationParameters, ControlledAxes
from mission_script import models

script = """
{{TXT_CONTENT}}
"""

controlled_axes = ControlledAxes(
    x={{controlledAxes.x}},
    y={{controlledAxes.y}},
    z={{controlledAxes.z}},
    roll={{controlledAxes.roll}},
    pitch={{controlledAxes.pitch}},
    yaw={{controlledAxes.yaw}},
)

linear_twist_max = {{linearTwistMax}}
angular_twist_max = {{angularTwistMax}}
twist_max = models.Twist(
  linear=models.Point(x=linear_twist_max, y=linear_twist_max, z=linear_twist_max),
  angular=models.Point(x=angular_twist_max, y=angular_twist_max, z=angular_twist_max)
)

params = NavigationParameters(
    relative={{navParams.relative}},
    controlled_axes=controlled_axes,
    linear_epsilon={{navParams.linearEpsilon}},
    angular_epsilon_rad={{navParams.angularEpsilonRad}},
    linear_horizon={{navParams.linearHorizon}},
    angular_horizon={{navParams.angularHorizon}},
    twist_max=twist_max,
)

run(navigate(ScriptGoal(script, params=params)))