PX4 ULog file reader
A web and node.js TypeScript library for reading PX4 ULog files, from the PX4 Autopilot system for drones and other autonomous vehicles.
import { MessageType, ULog } from "@foxglove/ulog";
import { FileReader } from "@foxglove/ulog/node";
async function main() {
const ulog = new ULog(new FileReader("../path/to/file.ulg"));
await ulog.open(); // required before any other operations
console.log(ulog.messageCount()); // ex: 64599
console.log(ulog.timeRange()); // ex: [ 0n, 181493506n ]
// build a map of subscription ids to message counts
// NOTE: readMessages() iterates over DATA section messages in timestamp order
const msgIdCounts = new Map<number, number>();
for await (const msg of ulog.readMessages()) {
if (msg.type === MessageType.Data) {
// NOTE: `msg.value` holds the deserialized message
msgIdCounts.set(msg.msgId, (msgIdCounts.get(msg.msgId) ?? 0) + 1);
}
}
// convert the subscription ids to message names
const msgCounts = Array.from(msgIdCounts.entries()).map(([id, count]) => [
ulog.subscriptions.get(id)?.name ?? `unknown msg_id ${id}`,
count,
]);
console.log(msgCounts);
// ex: [ [ 'vehicle_attitude', 6461 ], [ 'actuator_outputs', 1311 ], ... ]
}
void main();@foxglove/ulog is licensed under the MIT License.
- Run
yarn version --[major|minor|patch]to bump version - Run
git push && git push --tagsto push new tag - GitHub Actions will take care of the rest
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