pyulog:适用于ULog文件的Python模块和脚本

# 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](https://dev.px4.io/en/log/ulog_file_format.html). The provided [command line scripts](#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: ```bash pip install pyulog ``` Installation from source: ```bash python setup.py build install ``` ## Development 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): ```bash pip install -e . ``` ## Testing ```bash nosetests -sv ``` or ```bash python setup.py test ``` ## Code Checking ```bash pylint pyulog/*.py ``` <span id="scripts"></span> ## 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](test/sample.ulg)): ### Display information from an ULog file (ulog_info) Usage: ```bash 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 output ``` Example output: ```bash $ 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 13230 ``` ### Display 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 `simplekml` module 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) ```