pyulog
This repository contains a python package to parse ULog files and scripts to convert and display them. ULog is a self-describing logging format which is documented here.
The provided command line scripts are:
ulog_info: display information from an ULog file.ulog_messages: display logged messages from an ULog file.ulog_params: extract parameters from an ULog file.ulog2csv: convert ULog to CSV files.ulog2kml: convert ULog to KML files.
Installation
Installation with package manager:
pip install pyulogInstallation from source:
python setup.py build installDevelopment
To install the code in a format so that it can be easily edited use the following command (this will install the package as a link to the repo):
pip install -e .Testing
pytest testor
python setup.py testCode Checking
pylint pyulog/*.py
Command Line Scripts
All scripts are installed as system-wide applications (i.e. they be called on the command line without specifying Python or a system path), and support the -h flag for getting usage instructions.
The sections below show the usage syntax and sample output (from test/sample.ulg):
Display information from an ULog file (ulog_info)
Usage:
usage: ulog_info [-h] [-v] file.ulg
Display information from an ULog file
positional arguments:
file.ulg ULog input file
optional arguments:
-h, --help show this help message and exit
-v, --verbose Verbose outputExample output:
$ ulog_info sample.ulg
Logging start time: 0:01:52, duration: 0:01:08
Dropouts: count: 4, total duration: 0.1 s, max: 62 ms, mean: 29 ms
Info Messages:
sys_name: PX4
time_ref_utc: 0
ver_hw: AUAV_X21
ver_sw: fd483321a5cf50ead91164356d15aa474643aa73
Name (multi id, message size in bytes) number of data points, total bytes
actuator_controls_0 (0, 48) 3269 156912
actuator_outputs (0, 76) 1311 99636
commander_state (0, 9) 678 6102
control_state (0, 122) 3268 398696
cpuload (0, 16) 69 1104
ekf2_innovations (0, 140) 3271 457940
estimator_status (0, 309) 1311 405099
sensor_combined (0, 72) 17070 1229040
sensor_preflight (0, 16) 17072 273152
telemetry_status (0, 36) 70 2520
vehicle_attitude (0, 36) 6461 232596
vehicle_attitude_setpoint (0, 55) 3272 179960
vehicle_local_position (0, 123) 678 83394
vehicle_rates_setpoint (0, 24) 6448 154752
vehicle_status (0, 45) 294 13230Display logged messages from an ULog file (ulog_messages)
Usage:
usage: ulog_messages [-h] file.ulg
Display logged messages from an ULog file
positional arguments:
file.ulg ULog input file
optional arguments:
-h, --help show this help message and exit
Example output:
ubuntu@ubuntu:~/github/pyulog/test$ ulog_messages sample.ulg
0:02:38 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:42 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:51 ERROR: [sensors] no barometer found on /dev/baro0 (2)
0:02:56 ERROR: [sensors] no barometer found on /dev/baro0 (2)
Extract parameters from an ULog file (ulog_params)
Usage:
usage: ulog_params [-h] [-d DELIMITER] [-i] [-o] file.ulg [params.txt]
Extract parameters from an ULog file
positional arguments:
file.ulg ULog input file
params.txt Output filename (default=stdout)
optional arguments:
-h, --help show this help message and exit
-d DELIMITER, --delimiter DELIMITER
Use delimiter in CSV (default is ',')
-i, --initial Only extract initial parameters
-o, --octave Use Octave format
Example output (to console):
ubuntu@ubuntu:~/github/pyulog/test$ ulog_params sample.ulg
ATT_ACC_COMP,1
ATT_BIAS_MAX,0.0500000007451
ATT_EXT_HDG_M,0
...
VT_OPT_RECOV_EN,0
VT_TYPE,0
VT_WV_LND_EN,0
VT_WV_LTR_EN,0
VT_WV_YAWR_SCL,0.15000000596
Convert ULog to CSV files (ulog2csv)
Usage:
usage: ulog2csv [-h] [-m MESSAGES] [-d DELIMITER] [-o DIR] file.ulg
Convert ULog to CSV
positional arguments:
file.ulg ULog input file
optional arguments:
-h, --help show this help message and exit
-m MESSAGES, --messages MESSAGES
Only consider given messages. Must be a comma-
separated list of names, like
'sensor_combined,vehicle_gps_position'
-d DELIMITER, --delimiter DELIMITER
Use delimiter in CSV (default is ',')
-o DIR, --output DIR Output directory (default is same as input file)
Convert ULog to KML files (ulog2kml)
Note The
simplekmlmodule must be installed on your computer. If not already present, you can install it with:
pip install simplekml
Usage:
usage: ulog2kml [-h] [-o OUTPUT_FILENAME] [--topic TOPIC_NAME]
[--camera-trigger CAMERA_TRIGGER]
file.ulg
Convert ULog to KML
positional arguments:
file.ulg ULog input file
optional arguments:
-h, --help show this help message and exit
-o OUTPUT_FILENAME, --output OUTPUT_FILENAME
output filename
--topic TOPIC_NAME topic name with position data
(default=vehicle_gps_position)
--camera-trigger CAMERA_TRIGGER
Camera trigger topic name (e.g. camera_capture)
Convert ULog to rosbag files (ulog2rosbag)
Note You need a ROS environment with
px4_msgsbuilt and sourced.
Usage:
usage: ulog2rosbag [-h] [-m MESSAGES] file.ulg result.bag
Convert ULog to rosbag
positional arguments:
file.ulg ULog input file
result.ulg rosbag output file
optional arguments:
-h, --help show this help message and exit
-m MESSAGES, --messages MESSAGES
Only consider given messages. Must be a comma-
separated list of names, like
'sensor_combined,vehicle_gps_position'
Migrate/setup the database for use with the DatabaseULog class (ulog_migratedb)
Warning This command must be run whenever the schema changes, otherwise DatabaseULog won't function.
Warning Even if you store logs in the database, you should keep the original .ulg files. Otherwise you may lose your data.
Usage:
usage: ulog_migratedb [-h] [-d DB_PATH] [-n] [-s SQL_DIR] [-f]
Setup the database for DatabaseULog.
optional arguments:
-h, --help show this help message and exit
-d DB_PATH, --database DB_PATH
Path to the database file
-n, --noop Only print results, do not execute migration scripts.
-s SQL_DIR, --sql SQL_DIR
Directory with migration SQL files
-f, --force Run the migration script even if the database is not
created with this script.
Example output (to console):
ubuntu@ubuntu:~/github/pyulog$ ulog_migratedb
Using migration files in /home/ubuntu/github/pyulog/pyulog/sql.
Database file pyulog.sqlite3 not found, creating it from scratch.
Current schema version: 0 (database) and 1 (code).
Executing /home/ubuntu/github/pyulog/pyulog/sql/pyulog.1.sql.
Migration done.